2025-04-24 09:56:19 [info] Event logging started at level debug
2025-04-24 09:56:19 [info] Running: Duet 3 Mini5plus Ethernet: 3.6.0-rc.2+4 (2025-04-17 08:23:50)
2025-04-24 09:57:55 [info] Event logging stopped
power up + 00:00:03 [info] Event logging started at level debug
power up + 00:00:03 [info] Running: Duet 3 Mini5plus Ethernet: 3.6.0-rc.2+4 (2025-04-17 08:23:50)
power up + 00:00:03 [debug] Done!
power up + 00:00:03 [debug] RepRapFirmware for Duet 3 Mini 5+ is up and running.
power up + 00:00:05 [warn] Ethernet running, IP address = 192.168.1.14
power up + 00:00:07 [warn] HTTP client 192.168.1.2 login succeeded (session key 1624814641)
2025-04-24 09:58:03 [warn] Date and time set at power up + 00:00:07
2025-04-24 09:58:17 [info] M291: - ITP Input - Enter Measured Beam Value
2025-04-24 09:58:20 [info] M292: cancelled=false shouldAbort=true
2025-04-24 10:01:09 [warn] Started printing file 0:/gcodes/NV00044073A.g
2025-04-24 10:01:09 [debug] File 0:/gcodes/NV00044073A.g selected for printing
2025-04-24 10:01:26 [debug] Stopped at height -0.166 mm
2025-04-24 10:01:26 [debug] Diagnostics for board 50:
2025-04-24 10:01:26 [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 10:01:26 [debug] Never used RAM 51356, free system stack 178 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,63.5%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,35.3%,249) IDLE(0,ready,0.3%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:31 ago, cause: software
2025-04-24 10:01:26 [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 10:01:26 [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 10:01:26 [debug] Moves scheduled 7, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=0, max=122, frequency (Hz): min=0, max=37500
Sync err accum 73, peak jitter -4/5, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current 3
2025-04-24 10:01:26 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 13683, writes 45 timeouts 2
2025-04-24 10:01:26 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 1732, send timeouts 0, received 1031, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36231/37177
2025-04-24 10:01:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8411, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4592, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 12, naks 0, contentions 0, other errors 0
2025-04-24 10:01:26 [info] currentZPosition:-0.166
2025-04-24 10:01:27 [debug] Stopped at height -0.170 mm
2025-04-24 10:01:27 [debug] Stopped at height -0.171 mm
2025-04-24 10:01:28 [debug] Stopped at height -0.172 mm
2025-04-24 10:01:28 [debug] Diagnostics for board 50:
2025-04-24 10:01:28 [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 10:01:28 [debug] Never used RAM 51356, free system stack 178 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:33 ago, cause: software
2025-04-24 10:01:28 [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 10:01:28 [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 10:01:28 [debug] Moves scheduled 13, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=17045
Sync err accum 75, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:01:28 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20154, writes 0 timeouts 0
2025-04-24 10:01:28 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 37142/37175
2025-04-24 10:01:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:28 [info] currentZPosition:-0.172
2025-04-24 10:01:28 [debug] Stopped at height -0.171 mm
2025-04-24 10:01:29 [debug] Stopped at height -0.166 mm
2025-04-24 10:01:29 [debug] Diagnostics for board 50:
2025-04-24 10:01:29 [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 10:01:29 [debug] Never used RAM 51356, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:34 ago, cause: software
2025-04-24 10:01:29 [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 10:01:29 [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 10:01:29 [debug] Moves scheduled 17, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
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 4294933057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:01:29 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 12235, writes 0 timeouts 0
2025-04-24 10:01:29 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 50, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 37139/37176
2025-04-24 10:01:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8457, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:29 [info] currentZPosition:-0.166
2025-04-24 10:01:29 [debug] Stopped at height -0.167 mm
2025-04-24 10:01:30 [debug] Stopped at height -0.160 mm
2025-04-24 10:01:30 [debug] Diagnostics for board 50:
2025-04-24 10:01:30 [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 10:01:30 [debug] Never used RAM 51356, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:34 ago, cause: software
2025-04-24 10:01:30 [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 10:01:30 [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 10:01:30 [debug] Moves scheduled 21, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 58, peak jitter -4/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:01:30 [debug] Driver 0: pos -3324, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 11884, writes 0 timeouts 0
2025-04-24 10:01:30 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 50, send timeouts 0, received 18, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 37147/37176
2025-04-24 10:01:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 785
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 784
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:30 [info] currentZPosition:-0.160
2025-04-24 10:01:30 [debug] Stopped at height -0.163 mm
2025-04-24 10:01:31 [debug] Stopped at height -0.164 mm
2025-04-24 10:01:31 [debug] Diagnostics for board 50:
2025-04-24 10:01:31 [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 10:01:31 [debug] Never used RAM 51356, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:36 ago, cause: software
2025-04-24 10:01:31 [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 10:01:31 [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 10:01:31 [debug] Moves scheduled 26, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 69, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294673430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current 
2025-04-24 10:01:31 [debug] Driver 0: pos -3283, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 16080, writes 0 timeouts 0
2025-04-24 10:01:31 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, 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 292, adv 37140/37173
2025-04-24 10:01:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 776
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 7908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 777
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:32 [debug] Stopped at height -0.001 mm
2025-04-24 10:01:32 [debug] Diagnostics for board 50:
2025-04-24 10:01:32 [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 10:01:32 [debug] Never used RAM 51356, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:36 ago, cause: software
2025-04-24 10:01:32 [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 10:01:32 [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 10:01:32 [debug] Moves scheduled 28, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 75, peak jitter 2/2, peak Rx delay 150, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294931063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:32 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 7055, writes 0 timeouts 0
2025-04-24 10:01:32 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 46, send timeouts 0, received 13, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 37149/37165
2025-04-24 10:01:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:32 [info] currentZPosition:-9.940e-4
2025-04-24 10:01:33 [debug] Stopped at height 0.003 mm
2025-04-24 10:01:33 [debug] Diagnostics for board 50:
2025-04-24 10:01:33 [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 10:01:33 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:38 ago, cause: software
2025-04-24 10:01:33 [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 10:01:33 [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 10:01:33 [debug] Moves scheduled 32, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:33 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 15766, writes 0 timeouts 0
2025-04-24 10:01:33 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 35721/37176
2025-04-24 10:01:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:33 [info] currentZPosition:0.00278
2025-04-24 10:01:33 [debug] Stopped at height 0.003 mm
2025-04-24 10:01:34 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:34 [debug] Diagnostics for board 50:
2025-04-24 10:01:34 [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 10:01:34 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:39 ago, cause: software
2025-04-24 10:01:34 [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 10:01:34 [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 10:01:34 [debug] Moves scheduled 38, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:34 [debug] Driver 0: pos -3333, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 19074, writes 0 timeouts 0
2025-04-24 10:01:34 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 35736/37176
2025-04-24 10:01:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:34 [info] currentZPosition:0.00795
2025-04-24 10:01:35 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:36 [debug] Stopped at height 0.006 mm
2025-04-24 10:01:36 [debug] Diagnostics for board 50:
2025-04-24 10:01:36 [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 10:01:36 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:41 ago, cause: software
2025-04-24 10:01:36 [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 10:01:36 [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 10:01:36 [debug] Moves scheduled 44, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 62, peak jitter -4/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:36 [debug] Driver 0: pos -3355, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 26972, writes 0 timeouts 0
2025-04-24 10:01:36 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35973/37180
2025-04-24 10:01:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:37 [info] currentZPosition:0.00596
2025-04-24 10:01:37 [debug] Stopped at height 0.004 mm
2025-04-24 10:01:38 [debug] Stopped at height 0.007 mm
2025-04-24 10:01:38 [debug] Diagnostics for board 50:
2025-04-24 10:01:38 [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 10:01:38 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:43 ago, cause: software
2025-04-24 10:01:38 [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 10:01:38 [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 10:01:38 [debug] Moves scheduled 50, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 73, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current 
2025-04-24 10:01:38 [debug] Driver 0: pos -3346, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 23101, writes 0 timeouts 0
2025-04-24 10:01:38 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36280/37173
2025-04-24 10:01:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:38 [info] currentZPosition:0.00696
2025-04-24 10:01:39 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:40 [debug] Stopped at height 0.009 mm
2025-04-24 10:01:40 [debug] Diagnostics for board 50:
2025-04-24 10:01:40 [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 10:01:40 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:45 ago, cause: software
2025-04-24 10:01:40 [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 10:01:40 [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 10:01:40 [debug] Moves scheduled 56, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 62, peak jitter -3/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:40 [debug] Driver 0: pos -3325, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 19516, writes 0 timeouts 0
2025-04-24 10:01:40 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36187/37177
2025-04-24 10:01:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 784
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 786
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:40 [info] currentZPosition:0.00914
2025-04-24 10:01:40 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:42 [debug] Stopped at height 0.009 mm
2025-04-24 10:01:42 [debug] Diagnostics for board 50:
2025-04-24 10:01:42 [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 10:01:42 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:47 ago, cause: software
2025-04-24 10:01:42 [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 10:01:42 [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 10:01:42 [debug] Moves scheduled 62, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 70, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:42 [debug] Driver 0: pos -3324, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 23173, writes 0 timeouts 0
2025-04-24 10:01:42 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36258/37177
2025-04-24 10:01:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4592, no error
Lin: Encoder reverse polarity: no, raw count 786
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:42 [info] currentZPosition:0.00934
2025-04-24 10:01:42 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:43 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:43 [debug] Diagnostics for board 50:
2025-04-24 10:01:43 [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 10:01:43 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:48 ago, cause: software
2025-04-24 10:01:43 [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 10:01:43 [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 10:01:43 [debug] Moves scheduled 68, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:43 [debug] Driver 0: pos -3341, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20801, writes 0 timeouts 0
2025-04-24 10:01:43 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36173/37174
2025-04-24 10:01:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4593, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:43 [info] currentZPosition:0.00775
2025-04-24 10:01:45 [debug] Stopped at height 0.010 mm
2025-04-24 10:01:45 [debug] Diagnostics for board 50:
2025-04-24 10:01:45 [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 10:01:45 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:50 ago, cause: software
2025-04-24 10:01:45 [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 10:01:45 [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 10:01:45 [debug] Moves scheduled 72, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 58, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:01:45 [debug] Driver 0: pos -3316, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 18534, writes 0 timeouts 0
2025-04-24 10:01:45 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36283/37176
2025-04-24 10:01:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 784
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 783
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:45 [info] currentZPosition:0.0102
2025-04-24 10:01:45 [debug] Stopped at height 0.009 mm
2025-04-24 10:01:47 [debug] Stopped at height 0.006 mm
2025-04-24 10:01:47 [debug] Diagnostics for board 50:
2025-04-24 10:01:47 [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 10:01:47 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:51 ago, cause: software
2025-04-24 10:01:47 [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 10:01:47 [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 10:01:47 [debug] Moves scheduled 78, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 71, peak jitter -1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:47 [debug] Driver 0: pos -3355, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 21652, writes 0 timeouts 0
2025-04-24 10:01:47 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36186/37173
2025-04-24 10:01:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4592, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:47 [info] currentZPosition:0.00646
2025-04-24 10:01:47 [debug] Stopped at height 0.006 mm
2025-04-24 10:01:48 [debug] Stopped at height 0.007 mm
2025-04-24 10:01:48 [debug] Diagnostics for board 50:
2025-04-24 10:01:48 [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 10:01:48 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:53 ago, cause: software
2025-04-24 10:01:48 [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 10:01:48 [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 10:01:48 [debug] Moves scheduled 84, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 72, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:48 [debug] Driver 0: pos -3350, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 22956, writes 0 timeouts 0
2025-04-24 10:01:48 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36283/37173
2025-04-24 10:01:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:49 [info] currentZPosition:0.00706
2025-04-24 10:01:50 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:50 [debug] Diagnostics for board 50:
2025-04-24 10:01:50 [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 10:01:50 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:55 ago, cause: software
2025-04-24 10:01:50 [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 10:01:50 [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 10:01:50 [debug] Moves scheduled 88, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 60, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:01:50 [debug] Driver 0: pos -3343, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16191, writes 0 timeouts 0
2025-04-24 10:01:50 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36183/37177
2025-04-24 10:01:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8209, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:50 [info] currentZPosition:0.00775
2025-04-24 10:01:51 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:51 [debug] Diagnostics for board 50:
2025-04-24 10:01:51 [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 10:01:51 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:56 ago, cause: software
2025-04-24 10:01:51 [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 10:01:51 [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 10:01:51 [debug] Moves scheduled 92, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 61, peak jitter -2/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:01:51 [debug] Driver 0: pos -3342, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16567, writes 0 timeouts 0
2025-04-24 10:01:51 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36255/37176
2025-04-24 10:01:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:51 [info] currentZPosition:0.00785
2025-04-24 10:01:53 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:53 [debug] Diagnostics for board 50:
2025-04-24 10:01:53 [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 10:01:53 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:57 ago, cause: software
2025-04-24 10:01:53 [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 10:01:53 [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 10:01:53 [debug] Moves scheduled 96, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 77, peak jitter 1/4, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current 
2025-04-24 10:01:53 [debug] Driver 0: pos -3342, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 19146, writes 0 timeouts 0
2025-04-24 10:01:53 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36176/37171
2025-04-24 10:01:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4594, no error
Lin: Encoder reverse polarity: no, raw count 787
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:53 [info] currentZPosition:0.00785
2025-04-24 10:01:54 [debug] Stopped at height 0.005 mm
2025-04-24 10:01:54 [debug] Diagnostics for board 50:
2025-04-24 10:01:54 [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 10:01:54 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:59 ago, cause: software
2025-04-24 10:01:54 [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 10:01:54 [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 10:01:54 [debug] Moves scheduled 100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6000, max=17045
Sync err accum 76, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:01:54 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17517, writes 0 timeouts 0
2025-04-24 10:01:54 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36278/37176
2025-04-24 10:01:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:54 [info] currentZPosition:0.00487
2025-04-24 10:01:54 [debug] Stopped at height 0.005 mm
2025-04-24 10:01:56 [debug] Stopped at height 0.008 mm
2025-04-24 10:01:56 [debug] Diagnostics for board 50:
2025-04-24 10:01:56 [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 10:01:56 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,144) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:01 ago, cause: software
2025-04-24 10:01:56 [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 10:01:56 [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 10:01:56 [debug] Moves scheduled 106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 60, peak jitter -4/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:01:56 [debug] Driver 0: pos -3339, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 21948, writes 0 timeouts 0
2025-04-24 10:01:56 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36173/37176
2025-04-24 10:01:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 787
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:56 [info] currentZPosition:0.00825
2025-04-24 10:01:56 [debug] Stopped at height 0.006 mm
2025-04-24 10:01:57 [debug] Stopped at height 0.005 mm
2025-04-24 10:01:58 [debug] Stopped at height 0.007 mm
2025-04-24 10:01:58 [debug] Diagnostics for board 50:
2025-04-24 10:01:58 [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 10:01:58 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:03 ago, cause: software
2025-04-24 10:01:58 [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 10:01:58 [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 10:01:58 [debug] Moves scheduled 114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:01:58 [debug] Driver 0: pos -3352, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 24885, writes 0 timeouts 0
2025-04-24 10:01:58 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36285/37175
2025-04-24 10:01:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:01:58 [info] currentZPosition:0.00726
2025-04-24 10:01:58 [debug] Stopped at height 0.006 mm
2025-04-24 10:02:00 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:00 [debug] Diagnostics for board 50:
2025-04-24 10:02:00 [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 10:02:00 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:04 ago, cause: software
2025-04-24 10:02:00 [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 10:02:00 [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 10:02:00 [debug] Moves scheduled 120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6465, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:00 [debug] Driver 0: pos -3349, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 23000, writes 0 timeouts 0
2025-04-24 10:02:00 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36172/37174
2025-04-24 10:02:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8241, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:00 [info] currentZPosition:0.00765
2025-04-24 10:02:00 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:01 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:01 [debug] Diagnostics for board 50:
2025-04-24 10:02:01 [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 10:02:01 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:06 ago, cause: software
2025-04-24 10:02:01 [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 10:02:01 [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 10:02:01 [debug] Moves scheduled 126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:01 [debug] Driver 0: pos -3340, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20159, writes 0 timeouts 0
2025-04-24 10:02:01 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37174
2025-04-24 10:02:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4592, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:01 [info] currentZPosition:0.00865
2025-04-24 10:02:03 [debug] Stopped at height 0.006 mm
2025-04-24 10:02:03 [debug] Diagnostics for board 50:
2025-04-24 10:02:03 [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 10:02:03 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:08 ago, cause: software
2025-04-24 10:02:03 [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 10:02:03 [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 10:02:03 [debug] Moves scheduled 130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 66, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:03 [debug] Driver 0: pos -3369, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20000, writes 0 timeouts 0
2025-04-24 10:02:03 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36184/37174
2025-04-24 10:02:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:03 [info] currentZPosition:0.00577
2025-04-24 10:02:03 [debug] Stopped at height 0.003 mm
2025-04-24 10:02:04 [debug] Stopped at height 0.004 mm
2025-04-24 10:02:05 [debug] Stopped at height 0.005 mm
2025-04-24 10:02:05 [debug] Diagnostics for board 50:
2025-04-24 10:02:05 [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 10:02:05 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:10 ago, cause: software
2025-04-24 10:02:05 [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 10:02:05 [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 10:02:05 [debug] Moves scheduled 138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6410, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294837383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:05 [debug] Driver 0: pos -3374, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 27732, writes 0 timeouts 0
2025-04-24 10:02:05 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 288, adv 36274/37175
2025-04-24 10:02:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:05 [info] currentZPosition:0.00547
2025-04-24 10:02:05 [debug] Stopped at height 0.006 mm
2025-04-24 10:02:07 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:07 [debug] Diagnostics for board 50:
2025-04-24 10:02:07 [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 10:02:07 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:12 ago, cause: software
2025-04-24 10:02:07 [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 10:02:07 [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 10:02:07 [debug] Moves scheduled 144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17857
Sync err accum 66, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:07 [debug] Driver 0: pos -3331, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21772, writes 0 timeouts 0
2025-04-24 10:02:07 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36182/37173
2025-04-24 10:02:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 786
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 786
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:07 [info] currentZPosition:0.00984
2025-04-24 10:02:07 [debug] Stopped at height 0.012 mm
2025-04-24 10:02:08 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:08 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:09 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:09 [debug] Diagnostics for board 50:
2025-04-24 10:02:09 [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 10:02:09 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:14 ago, cause: software
2025-04-24 10:02:09 [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 10:02:09 [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 10:02:09 [debug] Moves scheduled 154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:09 [debug] Driver 0: pos -3357, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 29395, writes 0 timeouts 0
2025-04-24 10:02:09 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 291, adv 36286/37177
2025-04-24 10:02:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:09 [info] currentZPosition:0.00755
2025-04-24 10:02:11 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:11 [debug] Diagnostics for board 50:
2025-04-24 10:02:11 [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 10:02:11 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:15 ago, cause: software
2025-04-24 10:02:11 [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 10:02:11 [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 10:02:11 [debug] Moves scheduled 158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17857
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:11 [debug] Driver 0: pos -3332, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 18465, writes 0 timeouts 0
2025-04-24 10:02:11 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36182/37170
2025-04-24 10:02:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 786
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:11 [info] currentZPosition:0.0100
2025-04-24 10:02:11 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:12 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:12 [debug] Diagnostics for board 50:
2025-04-24 10:02:12 [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 10:02:12 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:17 ago, cause: software
2025-04-24 10:02:12 [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 10:02:12 [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 10:02:12 [debug] Moves scheduled 164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 63, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:12 [debug] Driver 0: pos -3360, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 21317, writes 0 timeouts 0
2025-04-24 10:02:12 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36267/37178
2025-04-24 10:02:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:12 [info] currentZPosition:0.00736
2025-04-24 10:02:13 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:14 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:14 [debug] Diagnostics for board 50:
2025-04-24 10:02:14 [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 10:02:14 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:19 ago, cause: software
2025-04-24 10:02:14 [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 10:02:14 [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 10:02:14 [debug] Moves scheduled 170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6637, max=17045
Sync err accum 72, peak jitter -1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:14 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 23196, writes 0 timeouts 0
2025-04-24 10:02:14 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36175/37172
2025-04-24 10:02:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:14 [info] currentZPosition:0.00706
2025-04-24 10:02:15 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:15 [debug] Diagnostics for board 50:
2025-04-24 10:02:15 [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 10:02:15 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:20 ago, cause: software
2025-04-24 10:02:15 [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 10:02:15 [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 10:02:15 [debug] Moves scheduled 174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 65, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:15 [debug] Driver 0: pos -3345, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16015, writes 0 timeouts 0
2025-04-24 10:02:15 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36279/37176
2025-04-24 10:02:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:16 [info] currentZPosition:0.00895
2025-04-24 10:02:16 [debug] Stopped at height 0.006 mm
2025-04-24 10:02:17 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:17 [debug] Diagnostics for board 50:
2025-04-24 10:02:17 [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 10:02:17 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:22 ago, cause: software
2025-04-24 10:02:17 [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 10:02:17 [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 10:02:17 [debug] Moves scheduled 180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=18292
Sync err accum 67, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:17 [debug] Driver 0: pos -3342, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 23065, writes 0 timeouts 0
2025-04-24 10:02:17 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37177
2025-04-24 10:02:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:17 [info] currentZPosition:0.00934
2025-04-24 10:02:18 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:19 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:19 [debug] Diagnostics for board 50:
2025-04-24 10:02:19 [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 10:02:19 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:24 ago, cause: software
2025-04-24 10:02:19 [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 10:02:19 [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 10:02:19 [debug] Moves scheduled 186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 70, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:19 [debug] Driver 0: pos -3359, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 21005, writes 0 timeouts 0
2025-04-24 10:02:19 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36278/37176
2025-04-24 10:02:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:19 [info] currentZPosition:0.00785
2025-04-24 10:02:20 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:20 [debug] Diagnostics for board 50:
2025-04-24 10:02:20 [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 10:02:20 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:25 ago, cause: software
2025-04-24 10:02:20 [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 10:02:20 [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 10:02:20 [debug] Moves scheduled 190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 60, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:20 [debug] Driver 0: pos -3342, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 18683, writes 0 timeouts 0
2025-04-24 10:02:20 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36085/37174
2025-04-24 10:02:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8205, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:21 [info] currentZPosition:0.00954
2025-04-24 10:02:21 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:22 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:22 [debug] Diagnostics for board 50:
2025-04-24 10:02:22 [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 10:02:22 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:27 ago, cause: software
2025-04-24 10:02:22 [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 10:02:22 [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 10:02:22 [debug] Moves scheduled 196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6696, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:22 [debug] Driver 0: pos -3362, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 21050, writes 0 timeouts 0
2025-04-24 10:02:22 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37177
2025-04-24 10:02:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:22 [info] currentZPosition:0.00765
2025-04-24 10:02:24 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:24 [debug] Diagnostics for board 50:
2025-04-24 10:02:24 [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 10:02:24 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:28 ago, cause: software
2025-04-24 10:02:24 [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 10:02:24 [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 10:02:24 [debug] Moves scheduled 200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17857
Sync err accum 76, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:02:24 [debug] Driver 0: pos -3358, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 19049, writes 0 timeouts 0
2025-04-24 10:02:24 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36178/37173
2025-04-24 10:02:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:24 [info] currentZPosition:0.00805
2025-04-24 10:02:25 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:25 [debug] Diagnostics for board 50:
2025-04-24 10:02:25 [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 10:02:25 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:30 ago, cause: software
2025-04-24 10:02:25 [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 10:02:25 [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 10:02:25 [debug] Moves scheduled 204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:25 [debug] Driver 0: pos -3370, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16926, writes 0 timeouts 0
2025-04-24 10:02:25 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37177
2025-04-24 10:02:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8349, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:25 [info] currentZPosition:0.00686
2025-04-24 10:02:27 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:27 [debug] Diagnostics for board 50:
2025-04-24 10:02:27 [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 10:02:27 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:31 ago, cause: software
2025-04-24 10:02:27 [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 10:02:27 [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 10:02:27 [debug] Moves scheduled 208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6521, max=17045
Sync err accum 63, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:27 [debug] Driver 0: pos -3345, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 18485, writes 0 timeouts 0
2025-04-24 10:02:27 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36166/37168
2025-04-24 10:02:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8220, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:27 [info] currentZPosition:0.00934
2025-04-24 10:02:27 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:28 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:28 [debug] Diagnostics for board 50:
2025-04-24 10:02:28 [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 10:02:28 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:33 ago, cause: software
2025-04-24 10:02:28 [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 10:02:28 [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 10:02:28 [debug] Moves scheduled 214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6302, max=17441
Sync err accum 76, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:28 [debug] Driver 0: pos -3349, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20455, writes 0 timeouts 0
2025-04-24 10:02:28 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36285/37172
2025-04-24 10:02:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8239, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:28 [info] currentZPosition:0.00905
2025-04-24 10:02:29 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:30 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:30 [debug] Diagnostics for board 50:
2025-04-24 10:02:30 [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 10:02:30 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:35 ago, cause: software
2025-04-24 10:02:30 [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 10:02:30 [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 10:02:30 [debug] Moves scheduled 220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17857
Sync err accum 71, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294928478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:30 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 23796, writes 0 timeouts 0
2025-04-24 10:02:30 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36176/37173
2025-04-24 10:02:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8367, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:30 [info] currentZPosition:0.00676
2025-04-24 10:02:31 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:31 [debug] Diagnostics for board 50:
2025-04-24 10:02:31 [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 10:02:31 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:36 ago, cause: software
2025-04-24 10:02:31 [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 10:02:31 [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 10:02:31 [debug] Moves scheduled 224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 58, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:31 [debug] Driver 0: pos -3366, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16452, writes 0 timeouts 0
2025-04-24 10:02:31 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36279/37176
2025-04-24 10:02:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:31 [info] currentZPosition:0.00746
2025-04-24 10:02:33 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:33 [debug] Diagnostics for board 50:
2025-04-24 10:02:33 [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 10:02:33 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:38 ago, cause: software
2025-04-24 10:02:33 [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 10:02:33 [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 10:02:33 [debug] Moves scheduled 228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 68, peak jitter -1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:33 [debug] Driver 0: pos -3356, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 18839, writes 0 timeouts 0
2025-04-24 10:02:33 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36177/37173
2025-04-24 10:02:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:33 [info] currentZPosition:0.00845
2025-04-24 10:02:34 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:34 [debug] Diagnostics for board 50:
2025-04-24 10:02:34 [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 10:02:34 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:39 ago, cause: software
2025-04-24 10:02:34 [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 10:02:34 [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 10:02:34 [debug] Moves scheduled 232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6818, max=17045
Sync err accum 80, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294934329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C
2025-04-24 10:02:34 [debug] Driver 0: pos -3337, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 15969, writes 0 timeouts 0
2025-04-24 10:02:34 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36274/37171
2025-04-24 10:02:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 785
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:34 [info] currentZPosition:0.0103
2025-04-24 10:02:35 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:35 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:36 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:36 [debug] Diagnostics for board 50:
2025-04-24 10:02:36 [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 10:02:36 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:41 ago, cause: software
2025-04-24 10:02:36 [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 10:02:36 [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 10:02:36 [debug] Moves scheduled 240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 79, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:36 [debug] Driver 0: pos -3361, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 27923, writes 0 timeouts 0
2025-04-24 10:02:36 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 291, adv 36167/37175
2025-04-24 10:02:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:36 [info] currentZPosition:0.00815
2025-04-24 10:02:37 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:38 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:38 [debug] Diagnostics for board 50:
2025-04-24 10:02:38 [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 10:02:38 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:43 ago, cause: software
2025-04-24 10:02:38 [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 10:02:38 [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 10:02:38 [debug] Moves scheduled 246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 63, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:02:38 [debug] Driver 0: pos -3349, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 19902, writes 0 timeouts 0
2025-04-24 10:02:38 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36269/37177
2025-04-24 10:02:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8240, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:38 [info] currentZPosition:0.00944
2025-04-24 10:02:40 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:40 [debug] Diagnostics for board 50:
2025-04-24 10:02:40 [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 10:02:40 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:44 ago, cause: software
2025-04-24 10:02:40 [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 10:02:40 [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 10:02:40 [debug] Moves scheduled 250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 60, peak jitter -3/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:40 [debug] Driver 0: pos -3354, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19326, writes 0 timeouts 0
2025-04-24 10:02:40 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36175/37175
2025-04-24 10:02:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:40 [info] currentZPosition:0.00895
2025-04-24 10:02:41 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:41 [debug] Diagnostics for board 50:
2025-04-24 10:02:41 [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 10:02:41 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:04:46 ago, cause: software
2025-04-24 10:02:41 [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 10:02:41 [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 10:02:41 [debug] Moves scheduled 254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=78, frequency (Hz): min=6302, max=17045
Sync err accum 78, peak jitter 1/4, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:02:41 [debug] Driver 0: pos -3357, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16656, writes 0 timeouts 0
2025-04-24 10:02:41 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36280/37169
2025-04-24 10:02:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:41 [info] currentZPosition:0.00865
2025-04-24 10:02:42 [debug] Stopped at height 0.012 mm
2025-04-24 10:02:42 [debug] Diagnostics for board 50:
2025-04-24 10:02:42 [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 10:02:42 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:47 ago, cause: software
2025-04-24 10:02:42 [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 10:02:42 [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 10:02:42 [debug] Moves scheduled 258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=510, max=18292
Sync err accum 82, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current 
2025-04-24 10:02:42 [debug] Driver 0: pos -3324, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 18060, writes 11 timeouts 1
2025-04-24 10:02:42 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36185/37170
2025-04-24 10:02:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 784
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4594, no error
Lin: Encoder reverse polarity: no, raw count 782
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:42 [info] currentZPosition:0.0119
2025-04-24 10:02:43 [debug] Stopped at height 0.011 mm
2025-04-24 10:02:44 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:44 [debug] Diagnostics for board 50:
2025-04-24 10:02:44 [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 10:02:44 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:49 ago, cause: software
2025-04-24 10:02:44 [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 10:02:44 [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 10:02:44 [debug] Moves scheduled 264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:44 [debug] Driver 0: pos -3361, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 21593, writes 0 timeouts 0
2025-04-24 10:02:44 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36287/37176
2025-04-24 10:02:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:44 [info] currentZPosition:0.00835
2025-04-24 10:02:44 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:46 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:46 [debug] Diagnostics for board 50:
2025-04-24 10:02:46 [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 10:02:46 [debug] Never used RAM 51356, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:51 ago, cause: software
2025-04-24 10:02:46 [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 10:02:46 [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 10:02:46 [debug] Moves scheduled 270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 59, peak jitter -4/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:46 [debug] Driver 0: pos -3360, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 22954, writes 0 timeouts 0
2025-04-24 10:02:46 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36177/37178
2025-04-24 10:02:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:46 [info] currentZPosition:0.00855
2025-04-24 10:02:47 [debug] Stopped at height 0.014 mm
2025-04-24 10:02:47 [debug] Diagnostics for board 50:
2025-04-24 10:02:47 [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 10:02:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:52 ago, cause: software
2025-04-24 10:02:47 [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 10:02:47 [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 10:02:47 [debug] Moves scheduled 274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:02:47 [debug] Driver 0: pos -3304, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 14782, writes 0 timeouts 0
2025-04-24 10:02:47 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 18, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36278/37170
2025-04-24 10:02:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 780
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 780
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:47 [info] currentZPosition:0.0141
2025-04-24 10:02:48 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:48 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:49 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:49 [debug] Diagnostics for board 50:
2025-04-24 10:02:49 [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 10:02:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:54 ago, cause: software
2025-04-24 10:02:49 [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 10:02:49 [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 10:02:49 [debug] Moves scheduled 282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 79, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:49 [debug] Driver 0: pos -3352, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 28660, writes 0 timeouts 0
2025-04-24 10:02:49 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 285, adv 36158/37174
2025-04-24 10:02:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:49 [info] currentZPosition:0.00954
2025-04-24 10:02:50 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:51 [debug] Stopped at height 0.010 mm
2025-04-24 10:02:51 [debug] Diagnostics for board 50:
2025-04-24 10:02:51 [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 10:02:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:56 ago, cause: software
2025-04-24 10:02:51 [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 10:02:51 [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 10:02:51 [debug] Moves scheduled 288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 69, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:51 [debug] Driver 0: pos -3352, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20415, writes 0 timeouts 0
2025-04-24 10:02:51 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37176
2025-04-24 10:02:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:51 [info] currentZPosition:0.00964
2025-04-24 10:02:51 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:53 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:53 [debug] Diagnostics for board 50:
2025-04-24 10:02:53 [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 10:02:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:58 ago, cause: software
2025-04-24 10:02:53 [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 10:02:53 [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 10:02:53 [debug] Moves scheduled 294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 61, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:53 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 23528, writes 0 timeouts 0
2025-04-24 10:02:53 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36156/37179
2025-04-24 10:02:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:53 [info] currentZPosition:0.00815
2025-04-24 10:02:54 [debug] Stopped at height 0.007 mm
2025-04-24 10:02:54 [debug] Diagnostics for board 50:
2025-04-24 10:02:54 [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 10:02:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:59 ago, cause: software
2025-04-24 10:02:54 [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 10:02:54 [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 10:02:54 [debug] Moves scheduled 298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=17045
Sync err accum 75, peak jitter 1/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:54 [debug] Driver 0: pos -3376, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16779, writes 0 timeouts 0
2025-04-24 10:02:54 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36280/37175
2025-04-24 10:02:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:54 [info] currentZPosition:0.00736
2025-04-24 10:02:56 [debug] Stopped at height 0.009 mm
2025-04-24 10:02:56 [debug] Diagnostics for board 50:
2025-04-24 10:02:56 [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 10:02:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:01 ago, cause: software
2025-04-24 10:02:56 [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 10:02:56 [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 10:02:56 [debug] Moves scheduled 302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 77, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:02:56 [debug] Driver 0: pos -3356, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 18578, writes 0 timeouts 0
2025-04-24 10:02:56 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36188/37171
2025-04-24 10:02:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:56 [info] currentZPosition:0.00934
2025-04-24 10:02:56 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:57 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:57 [debug] Diagnostics for board 50:
2025-04-24 10:02:57 [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 10:02:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:02 ago, cause: software
2025-04-24 10:02:57 [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 10:02:57 [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 10:02:57 [debug] Moves scheduled 308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 62, peak jitter -4/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:02:57 [debug] Driver 0: pos -3366, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 20630, writes 0 timeouts 0
2025-04-24 10:02:57 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36285/37177
2025-04-24 10:02:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:57 [info] currentZPosition:0.00845
2025-04-24 10:02:59 [debug] Stopped at height 0.008 mm
2025-04-24 10:02:59 [debug] Diagnostics for board 50:
2025-04-24 10:02:59 [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 10:02:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:04 ago, cause: software
2025-04-24 10:02:59 [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 10:02:59 [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 10:02:59 [debug] Moves scheduled 312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=6756, max=18292
Sync err accum 68, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:02:59 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 19453, writes 0 timeouts 0
2025-04-24 10:02:59 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36175/37172
2025-04-24 10:02:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8378, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:02:59 [info] currentZPosition:0.00755
2025-04-24 10:03:00 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:00 [debug] Diagnostics for board 50:
2025-04-24 10:03:00 [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 10:03:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:05 ago, cause: software
2025-04-24 10:03:00 [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 10:03:00 [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 10:03:00 [debug] Moves scheduled 316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=5813, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:00 [debug] Driver 0: pos -3354, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 15905, writes 0 timeouts 0
2025-04-24 10:03:00 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36280/37174
2025-04-24 10:03:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:00 [info] currentZPosition:0.00964
2025-04-24 10:03:01 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:02 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:02 [debug] Diagnostics for board 50:
2025-04-24 10:03:02 [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 10:03:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:07 ago, cause: software
2025-04-24 10:03:02 [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 10:03:02 [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 10:03:02 [debug] Moves scheduled 322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=109, frequency (Hz): min=6147, max=18292
Sync err accum 64, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:03:02 [debug] Driver 0: pos -3362, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 23179, writes 0 timeouts 0
2025-04-24 10:03:02 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36172/37177
2025-04-24 10:03:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:02 [info] currentZPosition:0.00895
2025-04-24 10:03:03 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:03 [debug] Diagnostics for board 50:
2025-04-24 10:03:03 [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 10:03:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:08 ago, cause: software
2025-04-24 10:03:03 [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 10:03:03 [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 10:03:03 [debug] Moves scheduled 326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:03 [debug] Driver 0: pos -3350, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16154, writes 0 timeouts 0
2025-04-24 10:03:03 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36282/37174
2025-04-24 10:03:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8242, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:03 [info] currentZPosition:0.0101
2025-04-24 10:03:05 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:05 [debug] Diagnostics for board 50:
2025-04-24 10:03:05 [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 10:03:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:10 ago, cause: software
2025-04-24 10:03:05 [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 10:03:05 [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 10:03:05 [debug] Moves scheduled 330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5769, max=17045
Sync err accum 66, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:03:05 [debug] Driver 0: pos -3346, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 19028, writes 0 timeouts 0
2025-04-24 10:03:05 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36186/37173
2025-04-24 10:03:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:05 [info] currentZPosition:0.0105
2025-04-24 10:03:06 [debug] Stopped at height 0.007 mm
2025-04-24 10:03:06 [debug] Diagnostics for board 50:
2025-04-24 10:03:06 [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 10:03:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:11 ago, cause: software
2025-04-24 10:03:06 [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 10:03:06 [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 10:03:06 [debug] Moves scheduled 334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:06 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17494, writes 0 timeouts 0
2025-04-24 10:03:06 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36283/37177
2025-04-24 10:03:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:06 [info] currentZPosition:0.00726
2025-04-24 10:03:07 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:07 [debug] Stopped at height 0.007 mm
2025-04-24 10:03:08 [debug] Stopped at height 0.008 mm
2025-04-24 10:03:08 [debug] Diagnostics for board 50:
2025-04-24 10:03:08 [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 10:03:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:13 ago, cause: software
2025-04-24 10:03:08 [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 10:03:08 [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 10:03:08 [debug] Moves scheduled 342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=88, frequency (Hz): min=6578, max=17857
Sync err accum 68, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:08 [debug] Driver 0: pos -3371, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 27089, writes 0 timeouts 0
2025-04-24 10:03:08 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 292, adv 36174/37177
2025-04-24 10:03:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:09 [info] currentZPosition:0.00825
2025-04-24 10:03:10 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:10 [debug] Diagnostics for board 50:
2025-04-24 10:03:10 [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 10:03:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:15 ago, cause: software
2025-04-24 10:03:10 [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 10:03:10 [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 10:03:10 [debug] Moves scheduled 346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17857
Sync err accum 64, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:10 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16385, writes 0 timeouts 0
2025-04-24 10:03:10 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36274/37175
2025-04-24 10:03:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:10 [info] currentZPosition:0.00885
2025-04-24 10:03:11 [debug] Stopped at height 0.008 mm
2025-04-24 10:03:11 [debug] Diagnostics for board 50:
2025-04-24 10:03:11 [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 10:03:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:16 ago, cause: software
2025-04-24 10:03:11 [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 10:03:11 [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 10:03:11 [debug] Moves scheduled 350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -3/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:11 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19588, writes 0 timeouts 0
2025-04-24 10:03:11 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36186/37175
2025-04-24 10:03:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8390, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:11 [info] currentZPosition:0.00755
2025-04-24 10:03:12 [debug] Stopped at height 0.007 mm
2025-04-24 10:03:13 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:13 [debug] Diagnostics for board 50:
2025-04-24 10:03:13 [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 10:03:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:18 ago, cause: software
2025-04-24 10:03:13 [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 10:03:13 [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 10:03:13 [debug] Moves scheduled 356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 69, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:13 [debug] Driver 0: pos -3354, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19774, writes 0 timeouts 0
2025-04-24 10:03:13 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36276/37174
2025-04-24 10:03:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:13 [info] currentZPosition:0.0100
2025-04-24 10:03:13 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:15 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:15 [debug] Diagnostics for board 50:
2025-04-24 10:03:15 [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 10:03:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:20 ago, cause: software
2025-04-24 10:03:15 [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 10:03:15 [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 10:03:15 [debug] Moves scheduled 362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:03:15 [debug] Driver 0: pos -3367, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 23461, writes 0 timeouts 0
2025-04-24 10:03:15 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37175
2025-04-24 10:03:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:15 [info] currentZPosition:0.00885
2025-04-24 10:03:16 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:16 [debug] Diagnostics for board 50:
2025-04-24 10:03:16 [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 10:03:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:21 ago, cause: software
2025-04-24 10:03:16 [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 10:03:16 [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 10:03:16 [debug] Moves scheduled 366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=18292
Sync err accum 72, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:16 [debug] Driver 0: pos -3344, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 15806, writes 0 timeouts 0
2025-04-24 10:03:16 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36286/37176
2025-04-24 10:03:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 787
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8213, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:16 [info] currentZPosition:0.0111
2025-04-24 10:03:16 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:18 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:18 [debug] Diagnostics for board 50:
2025-04-24 10:03:18 [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 10:03:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:23 ago, cause: software
2025-04-24 10:03:18 [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 10:03:18 [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 10:03:18 [debug] Moves scheduled 372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:18 [debug] Driver 0: pos -3350, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 23304, writes 0 timeouts 0
2025-04-24 10:03:18 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36179/37173
2025-04-24 10:03:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8243, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:18 [info] currentZPosition:0.0106
2025-04-24 10:03:19 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:19 [debug] Diagnostics for board 50:
2025-04-24 10:03:19 [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 10:03:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:24 ago, cause: software
2025-04-24 10:03:19 [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 10:03:19 [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 10:03:19 [debug] Moves scheduled 376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:19 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17049, writes 0 timeouts 0
2025-04-24 10:03:19 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36282/37177
2025-04-24 10:03:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:19 [info] currentZPosition:0.00914
2025-04-24 10:03:20 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:21 [debug] Stopped at height 0.012 mm
2025-04-24 10:03:21 [debug] Diagnostics for board 50:
2025-04-24 10:03:21 [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 10:03:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:26 ago, cause: software
2025-04-24 10:03:21 [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 10:03:21 [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 10:03:21 [debug] Moves scheduled 382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:03:21 [debug] Driver 0: pos -3339, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 22274, writes 0 timeouts 0
2025-04-24 10:03:21 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36170/37171
2025-04-24 10:03:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 787
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 787
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:21 [info] currentZPosition:0.0118
2025-04-24 10:03:22 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:23 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:23 [debug] Diagnostics for board 50:
2025-04-24 10:03:23 [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 10:03:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:28 ago, cause: software
2025-04-24 10:03:23 [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 10:03:23 [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 10:03:23 [debug] Moves scheduled 388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:23 [debug] Driver 0: pos -3357, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20907, writes 0 timeouts 0
2025-04-24 10:03:23 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36287/37176
2025-04-24 10:03:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:23 [info] currentZPosition:0.0101
2025-04-24 10:03:24 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:24 [debug] Diagnostics for board 50:
2025-04-24 10:03:24 [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 10:03:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:29 ago, cause: software
2025-04-24 10:03:24 [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 10:03:24 [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 10:03:24 [debug] Moves scheduled 392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 68, peak jitter -1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:03:24 [debug] Driver 0: pos -3360, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 19227, writes 0 timeouts 0
2025-04-24 10:03:24 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36170/37171
2025-04-24 10:03:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:24 [info] currentZPosition:0.00984
2025-04-24 10:03:26 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:26 [debug] Diagnostics for board 50:
2025-04-24 10:03:26 [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 10:03:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:30 ago, cause: software
2025-04-24 10:03:26 [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 10:03:26 [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 10:03:26 [debug] Moves scheduled 396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:03:26 [debug] Driver 0: pos -3349, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16205, writes 0 timeouts 0
2025-04-24 10:03:26 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37175
2025-04-24 10:03:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8239, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:26 [info] currentZPosition:0.0109
2025-04-24 10:03:27 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:27 [debug] Diagnostics for board 50:
2025-04-24 10:03:27 [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 10:03:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:32 ago, cause: software
2025-04-24 10:03:27 [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 10:03:27 [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 10:03:27 [debug] Moves scheduled 400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:27 [debug] Driver 0: pos -3371, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 19888, writes 0 timeouts 0
2025-04-24 10:03:27 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36171/37172
2025-04-24 10:03:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:27 [info] currentZPosition:0.00875
2025-04-24 10:03:28 [debug] Stopped at height 0.008 mm
2025-04-24 10:03:29 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:29 [debug] Diagnostics for board 50:
2025-04-24 10:03:29 [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 10:03:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:34 ago, cause: software
2025-04-24 10:03:29 [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 10:03:29 [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 10:03:29 [debug] Moves scheduled 406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 59, peak jitter -3/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:29 [debug] Driver 0: pos -3355, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 19946, writes 0 timeouts 0
2025-04-24 10:03:29 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36281/37172
2025-04-24 10:03:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:29 [info] currentZPosition:0.0104
2025-04-24 10:03:29 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:31 [debug] Stopped at height 0.013 mm
2025-04-24 10:03:31 [debug] Diagnostics for board 50:
2025-04-24 10:03:31 [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 10:03:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:35 ago, cause: software
2025-04-24 10:03:31 [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 10:03:31 [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 10:03:31 [debug] Moves scheduled 412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter 0/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:31 [debug] Driver 0: pos -3330, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 22203, writes 0 timeouts 0
2025-04-24 10:03:31 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36164/37175
2025-04-24 10:03:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 785
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 786
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:31 [info] currentZPosition:0.0130
2025-04-24 10:03:31 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:32 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:32 [debug] Diagnostics for board 50:
2025-04-24 10:03:32 [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 10:03:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:37 ago, cause: software
2025-04-24 10:03:32 [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 10:03:32 [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 10:03:32 [debug] Moves scheduled 418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:03:32 [debug] Driver 0: pos -3369, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 21554, writes 0 timeouts 0
2025-04-24 10:03:32 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36282/37174
2025-04-24 10:03:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:32 [info] currentZPosition:0.00924
2025-04-24 10:03:34 [debug] Stopped at height 0.008 mm
2025-04-24 10:03:34 [debug] Diagnostics for board 50:
2025-04-24 10:03:34 [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 10:03:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:39 ago, cause: software
2025-04-24 10:03:34 [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 10:03:34 [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 10:03:34 [debug] Moves scheduled 422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:34 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19438, writes 0 timeouts 0
2025-04-24 10:03:34 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36178/37175
2025-04-24 10:03:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8387, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:34 [info] currentZPosition:0.00845
2025-04-24 10:03:35 [debug] Stopped at height 0.012 mm
2025-04-24 10:03:35 [debug] Diagnostics for board 50:
2025-04-24 10:03:35 [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 10:03:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:40 ago, cause: software
2025-04-24 10:03:35 [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 10:03:35 [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 10:03:35 [debug] Moves scheduled 426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 60, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:03:35 [debug] Driver 0: pos -3339, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 15355, writes 0 timeouts 0
2025-04-24 10:03:35 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36283/37177
2025-04-24 10:03:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:35 [info] currentZPosition:0.0124
2025-04-24 10:03:35 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:36 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:37 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:37 [debug] Diagnostics for board 50:
2025-04-24 10:03:37 [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 10:03:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:42 ago, cause: software
2025-04-24 10:03:37 [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 10:03:37 [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 10:03:37 [debug] Moves scheduled 434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 70, peak jitter -1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:37 [debug] Driver 0: pos -3352, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 27517, writes 0 timeouts 0
2025-04-24 10:03:37 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 36167/37178
2025-04-24 10:03:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:37 [info] currentZPosition:0.0113
2025-04-24 10:03:38 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:39 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:39 [debug] Diagnostics for board 50:
2025-04-24 10:03:39 [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 10:03:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:44 ago, cause: software
2025-04-24 10:03:39 [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 10:03:39 [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 10:03:39 [debug] Moves scheduled 440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:39 [debug] Driver 0: pos -3366, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 20797, writes 0 timeouts 0
2025-04-24 10:03:39 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37175
2025-04-24 10:03:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:39 [info] currentZPosition:0.0100
2025-04-24 10:03:40 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:40 [debug] Diagnostics for board 50:
2025-04-24 10:03:40 [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 10:03:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:45 ago, cause: software
2025-04-24 10:03:40 [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 10:03:40 [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 10:03:40 [debug] Moves scheduled 444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 63, peak jitter -3/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:40 [debug] Driver 0: pos -3360, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 18987, writes 0 timeouts 0
2025-04-24 10:03:40 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36185/37172
2025-04-24 10:03:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:41 [info] currentZPosition:0.0106
2025-04-24 10:03:42 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:42 [debug] Diagnostics for board 50:
2025-04-24 10:03:42 [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 10:03:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:47 ago, cause: software
2025-04-24 10:03:42 [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 10:03:42 [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 10:03:42 [debug] Moves scheduled 448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:03:42 [debug] Driver 0: pos -3371, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16931, writes 0 timeouts 0
2025-04-24 10:03:42 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36262/37174
2025-04-24 10:03:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:42 [info] currentZPosition:0.00954
2025-04-24 10:03:43 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:43 [debug] Diagnostics for board 50:
2025-04-24 10:03:43 [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 10:03:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:48 ago, cause: software
2025-04-24 10:03:43 [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 10:03:43 [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 10:03:43 [debug] Moves scheduled 452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17857
Sync err accum 68, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:43 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 18970, writes 0 timeouts 0
2025-04-24 10:03:43 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36179/37171
2025-04-24 10:03:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:43 [info] currentZPosition:0.0101
2025-04-24 10:03:45 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:45 [debug] Diagnostics for board 50:
2025-04-24 10:03:45 [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 10:03:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:49 ago, cause: software
2025-04-24 10:03:45 [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 10:03:45 [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 10:03:45 [debug] Moves scheduled 456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:45 [debug] Driver 0: pos -3354, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16154, writes 0 timeouts 0
2025-04-24 10:03:45 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36282/37174
2025-04-24 10:03:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:45 [info] currentZPosition:0.0112
2025-04-24 10:03:46 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:46 [debug] Diagnostics for board 50:
2025-04-24 10:03:46 [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 10:03:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:51 ago, cause: software
2025-04-24 10:03:46 [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 10:03:46 [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 10:03:46 [debug] Moves scheduled 460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=18292
Sync err accum 73, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:46 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 19511, writes 0 timeouts 0
2025-04-24 10:03:46 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36185/37171
2025-04-24 10:03:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:46 [info] currentZPosition:0.0101
2025-04-24 10:03:47 [debug] Stopped at height 0.011 mm
2025-04-24 10:03:47 [debug] Diagnostics for board 50:
2025-04-24 10:03:47 [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 10:03:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:52 ago, cause: software
2025-04-24 10:03:47 [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 10:03:47 [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 10:03:47 [debug] Moves scheduled 464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:47 [debug] Driver 0: pos -3358, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16324, writes 0 timeouts 0
2025-04-24 10:03:47 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36279/37171
2025-04-24 10:03:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:48 [info] currentZPosition:0.0108
2025-04-24 10:03:49 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:49 [debug] Diagnostics for board 50:
2025-04-24 10:03:49 [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 10:03:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:54 ago, cause: software
2025-04-24 10:03:49 [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 10:03:49 [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 10:03:49 [debug] Moves scheduled 468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 74, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:03:49 [debug] Driver 0: pos -3371, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 19520, writes 0 timeouts 0
2025-04-24 10:03:49 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 292, adv 36170/37167
2025-04-24 10:03:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8352, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:49 [info] currentZPosition:0.00954
2025-04-24 10:03:49 [debug] Stopped at height 0.008 mm
2025-04-24 10:03:51 [debug] Stopped at height 0.009 mm
2025-04-24 10:03:51 [debug] Diagnostics for board 50:
2025-04-24 10:03:51 [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 10:03:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:55 ago, cause: software
2025-04-24 10:03:51 [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 10:03:51 [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 10:03:51 [debug] Moves scheduled 474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6355, max=17045
Sync err accum 58, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:03:51 [debug] Driver 0: pos -3377, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20768, writes 0 timeouts 0
2025-04-24 10:03:51 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36279/37178
2025-04-24 10:03:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8386, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:51 [info] currentZPosition:0.00905
2025-04-24 10:03:52 [debug] Stopped at height 0.008 mm
2025-04-24 10:03:52 [debug] Diagnostics for board 50:
2025-04-24 10:03:52 [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 10:03:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:57 ago, cause: software
2025-04-24 10:03:52 [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 10:03:52 [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 10:03:52 [debug] Moves scheduled 478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6198, max=17857
Sync err accum 69, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:03:52 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 19370, writes 0 timeouts 0
2025-04-24 10:03:52 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36169/37171
2025-04-24 10:03:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:52 [info] currentZPosition:0.00845
2025-04-24 10:03:53 [debug] Stopped at height 0.012 mm
2025-04-24 10:03:53 [debug] Diagnostics for board 50:
2025-04-24 10:03:53 [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 10:03:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:58 ago, cause: software
2025-04-24 10:03:53 [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 10:03:53 [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 10:03:53 [debug] Moves scheduled 482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 79, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:03:53 [debug] Driver 0: pos -3350, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 15478, writes 0 timeouts 0
2025-04-24 10:03:53 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36275/37167
2025-04-24 10:03:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8246, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:54 [info] currentZPosition:0.0117
2025-04-24 10:03:54 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:55 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:55 [debug] Diagnostics for board 50:
2025-04-24 10:03:55 [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 10:03:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:00 ago, cause: software
2025-04-24 10:03:55 [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 10:03:55 [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 10:03:55 [debug] Moves scheduled 488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6000, max=17045
Sync err accum 80, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:03:55 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 23686, writes 0 timeouts 0
2025-04-24 10:03:55 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37170
2025-04-24 10:03:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:55 [info] currentZPosition:0.00964
2025-04-24 10:03:57 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:57 [debug] Diagnostics for board 50:
2025-04-24 10:03:57 [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 10:03:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:01 ago, cause: software
2025-04-24 10:03:57 [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 10:03:57 [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 10:03:57 [debug] Moves scheduled 492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 74, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:03:57 [debug] Driver 0: pos -3366, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16334, writes 0 timeouts 0
2025-04-24 10:03:57 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36282/37176
2025-04-24 10:03:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:57 [info] currentZPosition:0.0102
2025-04-24 10:03:58 [debug] Stopped at height 0.010 mm
2025-04-24 10:03:58 [debug] Diagnostics for board 50:
2025-04-24 10:03:58 [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 10:03:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:03 ago, cause: software
2025-04-24 10:03:58 [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 10:03:58 [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 10:03:58 [debug] Moves scheduled 496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:03:58 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 19370, writes 0 timeouts 0
2025-04-24 10:03:58 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36188/37176
2025-04-24 10:03:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:03:58 [info] currentZPosition:0.00954
2025-04-24 10:04:00 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:00 [debug] Diagnostics for board 50:
2025-04-24 10:04:00 [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 10:04:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:04 ago, cause: software
2025-04-24 10:04:00 [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 10:04:00 [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 10:04:00 [debug] Moves scheduled 500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 71, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:00 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16509, writes 0 timeouts 0
2025-04-24 10:04:00 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36266/37174
2025-04-24 10:04:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8360, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:00 [info] currentZPosition:0.00964
2025-04-24 10:04:01 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:01 [debug] Diagnostics for board 50:
2025-04-24 10:04:01 [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 10:04:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:06 ago, cause: software
2025-04-24 10:04:01 [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 10:04:01 [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 10:04:01 [debug] Moves scheduled 504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:04:01 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 18943, writes 0 timeouts 0
2025-04-24 10:04:01 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36172/37172
2025-04-24 10:04:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:01 [info] currentZPosition:0.0103
2025-04-24 10:04:02 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:02 [debug] Diagnostics for board 50:
2025-04-24 10:04:02 [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 10:04:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:07 ago, cause: software
2025-04-24 10:04:02 [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 10:04:02 [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 10:04:02 [debug] Moves scheduled 508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:02 [debug] Driver 0: pos -3363, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16483, writes 0 timeouts 0
2025-04-24 10:04:02 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37176
2025-04-24 10:04:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:02 [info] currentZPosition:0.0105
2025-04-24 10:04:04 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:04 [debug] Diagnostics for board 50:
2025-04-24 10:04:04 [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 10:04:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:09 ago, cause: software
2025-04-24 10:04:04 [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 10:04:04 [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 10:04:04 [debug] Moves scheduled 512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:04:04 [debug] Driver 0: pos -3360, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 19063, writes 0 timeouts 0
2025-04-24 10:04:04 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36180/37170
2025-04-24 10:04:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8299, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:04 [info] currentZPosition:0.0109
2025-04-24 10:04:05 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:05 [debug] Diagnostics for board 50:
2025-04-24 10:04:05 [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 10:04:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:10 ago, cause: software
2025-04-24 10:04:05 [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 10:04:05 [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 10:04:05 [debug] Moves scheduled 516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 67, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:05 [debug] Driver 0: pos -3358, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16467, writes 0 timeouts 0
2025-04-24 10:04:05 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36280/37174
2025-04-24 10:04:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:05 [info] currentZPosition:0.0111
2025-04-24 10:04:07 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:07 [debug] Diagnostics for board 50:
2025-04-24 10:04:07 [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 10:04:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:12 ago, cause: software
2025-04-24 10:04:07 [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 10:04:07 [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 10:04:07 [debug] Moves scheduled 520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 65, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:07 [debug] Driver 0: pos -3367, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 19454, writes 0 timeouts 0
2025-04-24 10:04:07 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36187/37169
2025-04-24 10:04:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:07 [info] currentZPosition:0.0102
2025-04-24 10:04:08 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:08 [debug] Diagnostics for board 50:
2025-04-24 10:04:08 [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 10:04:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:13 ago, cause: software
2025-04-24 10:04:08 [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 10:04:08 [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 10:04:08 [debug] Moves scheduled 524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=569, max=17857
Sync err accum 65, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:08 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16444, writes 11 timeouts 1
2025-04-24 10:04:08 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36280/37174
2025-04-24 10:04:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:08 [info] currentZPosition:0.0106
2025-04-24 10:04:10 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:10 [debug] Diagnostics for board 50:
2025-04-24 10:04:10 [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 10:04:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:14 ago, cause: software
2025-04-24 10:04:10 [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 10:04:10 [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 10:04:10 [debug] Moves scheduled 528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 69, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:10 [debug] Driver 0: pos -3366, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 19217, writes 0 timeouts 0
2025-04-24 10:04:10 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36171/37174
2025-04-24 10:04:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:10 [info] currentZPosition:0.0104
2025-04-24 10:04:11 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:11 [debug] Diagnostics for board 50:
2025-04-24 10:04:11 [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 10:04:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:16 ago, cause: software
2025-04-24 10:04:11 [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 10:04:11 [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 10:04:11 [debug] Moves scheduled 532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 63, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:11 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16759, writes 0 timeouts 0
2025-04-24 10:04:11 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36281/37176
2025-04-24 10:04:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:11 [info] currentZPosition:0.00974
2025-04-24 10:04:12 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:12 [debug] Diagnostics for board 50:
2025-04-24 10:04:12 [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 10:04:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:17 ago, cause: software
2025-04-24 10:04:12 [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 10:04:12 [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 10:04:12 [debug] Moves scheduled 536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=81, frequency (Hz): min=6147, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:12 [debug] Driver 0: pos -3339, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 18099, writes 0 timeouts 0
2025-04-24 10:04:12 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37171
2025-04-24 10:04:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 787
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 787
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:13 [info] currentZPosition:0.0131
2025-04-24 10:04:13 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:14 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:14 [debug] Diagnostics for board 50:
2025-04-24 10:04:14 [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 10:04:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:19 ago, cause: software
2025-04-24 10:04:14 [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 10:04:14 [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 10:04:14 [debug] Moves scheduled 542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 74, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:14 [debug] Driver 0: pos -3349, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20701, writes 0 timeouts 0
2025-04-24 10:04:14 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36279/37175
2025-04-24 10:04:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8240, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:14 [info] currentZPosition:0.0122
2025-04-24 10:04:14 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:16 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:16 [debug] Diagnostics for board 50:
2025-04-24 10:04:16 [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 10:04:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:21 ago, cause: software
2025-04-24 10:04:16 [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 10:04:16 [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 10:04:16 [debug] Moves scheduled 548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:16 [debug] Driver 0: pos -3346, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 22948, writes 0 timeouts 0
2025-04-24 10:04:16 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36182/37175
2025-04-24 10:04:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:16 [info] currentZPosition:0.0126
2025-04-24 10:04:17 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:17 [debug] Diagnostics for board 50:
2025-04-24 10:04:17 [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 10:04:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:22 ago, cause: software
2025-04-24 10:04:17 [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 10:04:17 [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 10:04:17 [debug] Moves scheduled 552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:17 [debug] Driver 0: pos -3347, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16596, writes 0 timeouts 0
2025-04-24 10:04:17 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36266/37178
2025-04-24 10:04:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8228, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:17 [info] currentZPosition:0.0125
2025-04-24 10:04:19 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:19 [debug] Diagnostics for board 50:
2025-04-24 10:04:19 [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 10:04:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:24 ago, cause: software
2025-04-24 10:04:19 [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 10:04:19 [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 10:04:19 [debug] Moves scheduled 556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:04:19 [debug] Driver 0: pos -3361, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 19565, writes 0 timeouts 0
2025-04-24 10:04:19 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36177/37173
2025-04-24 10:04:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:19 [info] currentZPosition:0.0111
2025-04-24 10:04:19 [debug] Stopped at height 0.009 mm
2025-04-24 10:04:20 [debug] Stopped at height 0.009 mm
2025-04-24 10:04:21 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:21 [debug] Diagnostics for board 50:
2025-04-24 10:04:21 [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 10:04:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:26 ago, cause: software
2025-04-24 10:04:21 [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 10:04:21 [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 10:04:21 [debug] Moves scheduled 564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=170, frequency (Hz): min=5033, max=17857
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:21 [debug] Driver 0: pos -3351, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 24240, writes 0 timeouts 0
2025-04-24 10:04:21 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36286/37175
2025-04-24 10:04:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:21 [info] currentZPosition:0.0123
2025-04-24 10:04:21 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:22 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:23 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:23 [debug] Diagnostics for board 50:
2025-04-24 10:04:23 [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 10:04:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:28 ago, cause: software
2025-04-24 10:04:23 [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 10:04:23 [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 10:04:23 [debug] Moves scheduled 572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 66, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:23 [debug] Driver 0: pos -3353, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 26991, writes 0 timeouts 0
2025-04-24 10:04:23 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 289, adv 36190/37174
2025-04-24 10:04:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:23 [info] currentZPosition:0.0123
2025-04-24 10:04:23 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:25 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:25 [debug] Diagnostics for board 50:
2025-04-24 10:04:25 [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 10:04:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:29 ago, cause: software
2025-04-24 10:04:25 [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 10:04:25 [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 10:04:25 [debug] Moves scheduled 578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 64, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:25 [debug] Driver 0: pos -3362, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20613, writes 0 timeouts 0
2025-04-24 10:04:25 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37178
2025-04-24 10:04:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:25 [info] currentZPosition:0.0115
2025-04-24 10:04:26 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:26 [debug] Diagnostics for board 50:
2025-04-24 10:04:26 [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 10:04:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:31 ago, cause: software
2025-04-24 10:04:26 [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 10:04:26 [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 10:04:26 [debug] Moves scheduled 582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:04:26 [debug] Driver 0: pos -3359, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 19093, writes 0 timeouts 0
2025-04-24 10:04:26 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36189/37171
2025-04-24 10:04:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:26 [info] currentZPosition:0.0118
2025-04-24 10:04:27 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:27 [debug] Diagnostics for board 50:
2025-04-24 10:04:27 [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 10:04:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:32 ago, cause: software
2025-04-24 10:04:27 [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 10:04:27 [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 10:04:27 [debug] Moves scheduled 586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6880, max=17857
Sync err accum 78, peak jitter -1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:27 [debug] Driver 0: pos -3354, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16418, writes 0 timeouts 0
2025-04-24 10:04:27 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36277/37175
2025-04-24 10:04:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:27 [info] currentZPosition:0.0123
2025-04-24 10:04:29 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:29 [debug] Diagnostics for board 50:
2025-04-24 10:04:29 [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 10:04:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:34 ago, cause: software
2025-04-24 10:04:29 [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 10:04:29 [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 10:04:29 [debug] Moves scheduled 590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
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 4294931946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:29 [debug] Driver 0: pos -3371, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 19712, writes 0 timeouts 0
2025-04-24 10:04:29 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36190/37175
2025-04-24 10:04:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8351, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:29 [info] currentZPosition:0.0106
2025-04-24 10:04:29 [debug] Stopped at height 0.009 mm
2025-04-24 10:04:31 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:31 [debug] Diagnostics for board 50:
2025-04-24 10:04:31 [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 10:04:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:35 ago, cause: software
2025-04-24 10:04:31 [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 10:04:31 [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 10:04:31 [debug] Moves scheduled 596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=18292
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 4294936977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:31 [debug] Driver 0: pos -3350, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20071, writes 0 timeouts 0
2025-04-24 10:04:31 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36286/37174
2025-04-24 10:04:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8243, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 788
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:31 [info] currentZPosition:0.0130
2025-04-24 10:04:31 [debug] Stopped at height 0.015 mm
2025-04-24 10:04:32 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:32 [debug] Diagnostics for board 50:
2025-04-24 10:04:32 [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 10:04:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:37 ago, cause: software
2025-04-24 10:04:32 [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 10:04:32 [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 10:04:32 [debug] Moves scheduled 602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 78, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:32 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 23237, writes 0 timeouts 0
2025-04-24 10:04:32 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36076/37170
2025-04-24 10:04:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:33 [info] currentZPosition:0.0116
2025-04-24 10:04:33 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:33 [debug] Stopped at height 0.009 mm
2025-04-24 10:04:34 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:34 [debug] Diagnostics for board 50:
2025-04-24 10:04:34 [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 10:04:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:39 ago, cause: software
2025-04-24 10:04:34 [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 10:04:34 [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 10:04:34 [debug] Moves scheduled 610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 81, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:34 [debug] Driver 0: pos -3356, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 24287, writes 0 timeouts 0
2025-04-24 10:04:34 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 286, adv 36279/37176
2025-04-24 10:04:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:34 [info] currentZPosition:0.0127
2025-04-24 10:04:35 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:36 [debug] Stopped at height 0.014 mm
2025-04-24 10:04:36 [debug] Diagnostics for board 50:
2025-04-24 10:04:36 [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 10:04:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:41 ago, cause: software
2025-04-24 10:04:36 [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 10:04:36 [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 10:04:36 [debug] Moves scheduled 616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=108, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:36 [debug] Driver 0: pos -3346, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 22766, writes 0 timeouts 0
2025-04-24 10:04:36 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36185/37175
2025-04-24 10:04:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8223, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 786
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:36 [info] currentZPosition:0.0138
2025-04-24 10:04:37 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:38 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:38 [debug] Diagnostics for board 50:
2025-04-24 10:04:38 [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 10:04:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:43 ago, cause: software
2025-04-24 10:04:38 [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 10:04:38 [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 10:04:38 [debug] Moves scheduled 622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6048, max=17045
Sync err accum 63, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294927694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:38 [debug] Driver 0: pos -3362, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 21047, writes 0 timeouts 0
2025-04-24 10:04:38 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36282/37179
2025-04-24 10:04:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:38 [info] currentZPosition:0.0123
2025-04-24 10:04:39 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:39 [debug] Diagnostics for board 50:
2025-04-24 10:04:39 [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 10:04:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:44 ago, cause: software
2025-04-24 10:04:39 [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 10:04:39 [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 10:04:39 [debug] Moves scheduled 626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17857
Sync err accum 75, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:04:39 [debug] Driver 0: pos -3358, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 19006, writes 0 timeouts 0
2025-04-24 10:04:39 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36174/37171
2025-04-24 10:04:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:40 [info] currentZPosition:0.0127
2025-04-24 10:04:41 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:41 [debug] Diagnostics for board 50:
2025-04-24 10:04:41 [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 10:04:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:46 ago, cause: software
2025-04-24 10:04:41 [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 10:04:41 [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 10:04:41 [debug] Moves scheduled 630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=18292
Sync err accum 74, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:41 [debug] Driver 0: pos -3369, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16860, writes 0 timeouts 0
2025-04-24 10:04:41 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36281/37175
2025-04-24 10:04:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:41 [info] currentZPosition:0.0116
2025-04-24 10:04:42 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:42 [debug] Diagnostics for board 50:
2025-04-24 10:04:42 [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 10:04:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:47 ago, cause: software
2025-04-24 10:04:42 [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 10:04:42 [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 10:04:42 [debug] Moves scheduled 634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17857
Sync err accum 71, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:42 [debug] Driver 0: pos -3363, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 18984, writes 0 timeouts 0
2025-04-24 10:04:42 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36174/37171
2025-04-24 10:04:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:42 [info] currentZPosition:0.0122
2025-04-24 10:04:44 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:44 [debug] Diagnostics for board 50:
2025-04-24 10:04:44 [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 10:04:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:48 ago, cause: software
2025-04-24 10:04:44 [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 10:04:44 [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 10:04:44 [debug] Moves scheduled 638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 60, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:44 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16623, writes 0 timeouts 0
2025-04-24 10:04:44 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37177
2025-04-24 10:04:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:44 [info] currentZPosition:0.0121
2025-04-24 10:04:45 [debug] Stopped at height 0.012 mm
2025-04-24 10:04:45 [debug] Diagnostics for board 50:
2025-04-24 10:04:45 [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 10:04:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:50 ago, cause: software
2025-04-24 10:04:45 [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 10:04:45 [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 10:04:45 [debug] Moves scheduled 642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 73, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:45 [debug] Driver 0: pos -3362, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 19101, writes 0 timeouts 0
2025-04-24 10:04:45 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36172/37174
2025-04-24 10:04:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:45 [info] currentZPosition:0.0123
2025-04-24 10:04:47 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:47 [debug] Diagnostics for board 50:
2025-04-24 10:04:47 [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 10:04:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:51 ago, cause: software
2025-04-24 10:04:47 [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 10:04:47 [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 10:04:47 [debug] Moves scheduled 646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6147, max=17857
Sync err accum 82, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:47 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17059, writes 0 timeouts 0
2025-04-24 10:04:47 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36275/37174
2025-04-24 10:04:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:47 [info] currentZPosition:0.0105
2025-04-24 10:04:47 [debug] Stopped at height 0.007 mm
2025-04-24 10:04:47 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:48 [debug] Stopped at height 0.007 mm
2025-04-24 10:04:48 [debug] Stopped at height 0.007 mm
2025-04-24 10:04:49 [debug] Stopped at height 0.015 mm
2025-04-24 10:04:49 [debug] Diagnostics for board 50:
2025-04-24 10:04:49 [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 10:04:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:54 ago, cause: software
2025-04-24 10:04:49 [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 10:04:49 [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 10:04:49 [debug] Moves scheduled 658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=18292
Sync err accum 78, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:49 [debug] Driver 0: pos -3339, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 33948, writes 0 timeouts 0
2025-04-24 10:04:49 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36187/37178
2025-04-24 10:04:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 786
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:49 [info] currentZPosition:0.0149
2025-04-24 10:04:50 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:50 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:51 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:51 [debug] Diagnostics for board 50:
2025-04-24 10:04:51 [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 10:04:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:56 ago, cause: software
2025-04-24 10:04:51 [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 10:04:51 [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 10:04:51 [debug] Moves scheduled 666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=17857
Sync err accum 60, peak jitter -3/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:04:51 [debug] Driver 0: pos -3357, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 25121, writes 0 timeouts 0
2025-04-24 10:04:51 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36284/37176
2025-04-24 10:04:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:51 [info] currentZPosition:0.0133
2025-04-24 10:04:53 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:53 [debug] Diagnostics for board 50:
2025-04-24 10:04:53 [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 10:04:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:58 ago, cause: software
2025-04-24 10:04:53 [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 10:04:53 [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 10:04:53 [debug] Moves scheduled 670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 72, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:04:53 [debug] Driver 0: pos -3357, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 19138, writes 0 timeouts 0
2025-04-24 10:04:53 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36171/37171
2025-04-24 10:04:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:53 [info] currentZPosition:0.0133
2025-04-24 10:04:54 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:54 [debug] Diagnostics for board 50:
2025-04-24 10:04:54 [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 10:04:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:59 ago, cause: software
2025-04-24 10:04:54 [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 10:04:54 [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 10:04:54 [debug] Moves scheduled 674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6756, max=17857
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:54 [debug] Driver 0: pos -3360, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16546, writes 0 timeouts 0
2025-04-24 10:04:54 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36278/37176
2025-04-24 10:04:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:54 [info] currentZPosition:0.0131
2025-04-24 10:04:56 [debug] Stopped at height 0.011 mm
2025-04-24 10:04:56 [debug] Diagnostics for board 50:
2025-04-24 10:04:56 [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 10:04:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:00 ago, cause: software
2025-04-24 10:04:56 [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 10:04:56 [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 10:04:56 [debug] Moves scheduled 678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=519, max=17045
Sync err accum 81, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:04:56 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 19846, writes 11 timeouts 1
2025-04-24 10:04:56 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36192/37169
2025-04-24 10:04:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8421, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:56 [info] currentZPosition:0.0108
2025-04-24 10:04:56 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:57 [debug] Stopped at height 0.010 mm
2025-04-24 10:04:57 [debug] Diagnostics for board 50:
2025-04-24 10:04:57 [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 10:04:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:02 ago, cause: software
2025-04-24 10:04:57 [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 10:04:57 [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 10:04:57 [debug] Moves scheduled 684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=76, frequency (Hz): min=6944, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:04:57 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 20872, writes 0 timeouts 0
2025-04-24 10:04:57 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36279/37174
2025-04-24 10:04:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8477, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:57 [info] currentZPosition:0.00984
2025-04-24 10:04:59 [debug] Stopped at height 0.013 mm
2025-04-24 10:04:59 [debug] Diagnostics for board 50:
2025-04-24 10:04:59 [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 10:04:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:04 ago, cause: software
2025-04-24 10:04:59 [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 10:04:59 [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 10:04:59 [debug] Moves scheduled 688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 60, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:04:59 [debug] Driver 0: pos -3362, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 18161, writes 0 timeouts 0
2025-04-24 10:04:59 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36172/37176
2025-04-24 10:04:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:04:59 [info] currentZPosition:0.0131
2025-04-24 10:04:59 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:00 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:00 [debug] Diagnostics for board 50:
2025-04-24 10:05:00 [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 10:05:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:05 ago, cause: software
2025-04-24 10:05:00 [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 10:05:00 [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 10:05:00 [debug] Moves scheduled 694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:00 [debug] Driver 0: pos -3361, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20473, writes 0 timeouts 0
2025-04-24 10:05:00 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36282/37177
2025-04-24 10:05:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:01 [info] currentZPosition:0.0133
2025-04-24 10:05:02 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:02 [debug] Diagnostics for board 50:
2025-04-24 10:05:02 [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 10:05:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:07 ago, cause: software
2025-04-24 10:05:02 [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 10:05:02 [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 10:05:02 [debug] Moves scheduled 698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:02 [debug] Driver 0: pos -3353, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 18991, writes 0 timeouts 0
2025-04-24 10:05:02 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36190/37172
2025-04-24 10:05:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:02 [info] currentZPosition:0.0141
2025-04-24 10:05:03 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:03 [debug] Diagnostics for board 50:
2025-04-24 10:05:03 [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 10:05:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:08 ago, cause: software
2025-04-24 10:05:03 [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 10:05:03 [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 10:05:03 [debug] Moves scheduled 702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:03 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17032, writes 0 timeouts 0
2025-04-24 10:05:03 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36282/37176
2025-04-24 10:05:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:03 [info] currentZPosition:0.0126
2025-04-24 10:05:04 [debug] Stopped at height 0.011 mm
2025-04-24 10:05:05 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:05 [debug] Diagnostics for board 50:
2025-04-24 10:05:05 [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 10:05:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:10 ago, cause: software
2025-04-24 10:05:05 [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 10:05:05 [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 10:05:05 [debug] Moves scheduled 708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17045
Sync err accum 77, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935557 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:05:05 [debug] Driver 0: pos -3354, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 22814, writes 0 timeouts 0
2025-04-24 10:05:05 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36179/37177
2025-04-24 10:05:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:05 [info] currentZPosition:0.0141
2025-04-24 10:05:06 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:07 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:07 [debug] Diagnostics for board 50:
2025-04-24 10:05:07 [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 10:05:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:12 ago, cause: software
2025-04-24 10:05:07 [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 10:05:07 [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 10:05:07 [debug] Moves scheduled 714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17857
Sync err accum 62, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:05:07 [debug] Driver 0: pos -3361, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20690, writes 0 timeouts 0
2025-04-24 10:05:07 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36284/37178
2025-04-24 10:05:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:07 [info] currentZPosition:0.0135
2025-04-24 10:05:08 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:08 [debug] Diagnostics for board 50:
2025-04-24 10:05:08 [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 10:05:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:13 ago, cause: software
2025-04-24 10:05:08 [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 10:05:08 [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 10:05:08 [debug] Moves scheduled 718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 70, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:08 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 19580, writes 0 timeouts 0
2025-04-24 10:05:08 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36196/37175
2025-04-24 10:05:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:08 [info] currentZPosition:0.0123
2025-04-24 10:05:10 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:10 [debug] Diagnostics for board 50:
2025-04-24 10:05:10 [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 10:05:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:14 ago, cause: software
2025-04-24 10:05:10 [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 10:05:10 [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 10:05:10 [debug] Moves scheduled 722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=545, max=17857
Sync err accum 81, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:10 [debug] Driver 0: pos -3358, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16040, writes 11 timeouts 1
2025-04-24 10:05:10 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36264/37171
2025-04-24 10:05:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:10 [info] currentZPosition:0.0138
2025-04-24 10:05:10 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:12 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:12 [debug] Diagnostics for board 50:
2025-04-24 10:05:12 [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 10:05:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:16 ago, cause: software
2025-04-24 10:05:12 [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 10:05:12 [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 10:05:12 [debug] Moves scheduled 728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5681, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:12 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 23662, writes 0 timeouts 0
2025-04-24 10:05:12 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36181/37173
2025-04-24 10:05:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8389, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:12 [info] currentZPosition:0.0119
2025-04-24 10:05:12 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:13 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:13 [debug] Diagnostics for board 50:
2025-04-24 10:05:13 [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 10:05:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:18 ago, cause: software
2025-04-24 10:05:13 [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 10:05:13 [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 10:05:13 [debug] Moves scheduled 734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5769, max=17441
Sync err accum 76, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:05:13 [debug] Driver 0: pos -3376, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20295, writes 0 timeouts 0
2025-04-24 10:05:13 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36286/37177
2025-04-24 10:05:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8382, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:13 [info] currentZPosition:0.0122
2025-04-24 10:05:14 [debug] Stopped at height 0.011 mm
2025-04-24 10:05:15 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:15 [debug] Diagnostics for board 50:
2025-04-24 10:05:15 [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 10:05:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:07:20 ago, cause: software
2025-04-24 10:05:15 [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 10:05:15 [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 10:05:15 [debug] Moves scheduled 740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:05:15 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 23123, writes 0 timeouts 0
2025-04-24 10:05:15 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36175/37176
2025-04-24 10:05:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:15 [info] currentZPosition:0.0126
2025-04-24 10:05:16 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:16 [debug] Diagnostics for board 50:
2025-04-24 10:05:16 [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 10:05:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:21 ago, cause: software
2025-04-24 10:05:16 [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 10:05:16 [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 10:05:16 [debug] Moves scheduled 744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 69, peak jitter -1/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:05:16 [debug] Driver 0: pos -3370, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16428, writes 0 timeouts 0
2025-04-24 10:05:16 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37174
2025-04-24 10:05:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:16 [info] currentZPosition:0.0129
2025-04-24 10:05:18 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:18 [debug] Diagnostics for board 50:
2025-04-24 10:05:18 [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 10:05:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:23 ago, cause: software
2025-04-24 10:05:18 [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 10:05:18 [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 10:05:18 [debug] Moves scheduled 748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 76, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:18 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 19077, writes 0 timeouts 0
2025-04-24 10:05:18 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36181/37167
2025-04-24 10:05:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:18 [info] currentZPosition:0.0131
2025-04-24 10:05:19 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:19 [debug] Diagnostics for board 50:
2025-04-24 10:05:19 [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 10:05:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:24 ago, cause: software
2025-04-24 10:05:19 [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 10:05:19 [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 10:05:19 [debug] Moves scheduled 752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:19 [debug] Driver 0: pos -3359, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16320, writes 0 timeouts 0
2025-04-24 10:05:19 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36282/37174
2025-04-24 10:05:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:19 [info] currentZPosition:0.0140
2025-04-24 10:05:21 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:21 [debug] Diagnostics for board 50:
2025-04-24 10:05:21 [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 10:05:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:26 ago, cause: software
2025-04-24 10:05:21 [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 10:05:21 [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 10:05:21 [debug] Moves scheduled 756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6302, max=18292
Sync err accum 70, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:05:21 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 19420, writes 0 timeouts 0
2025-04-24 10:05:21 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36186/37173
2025-04-24 10:05:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:21 [info] currentZPosition:0.0131
2025-04-24 10:05:22 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:22 [debug] Diagnostics for board 50:
2025-04-24 10:05:22 [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 10:05:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:07:27 ago, cause: software
2025-04-24 10:05:22 [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 10:05:22 [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 10:05:22 [debug] Moves scheduled 760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 62, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:22 [debug] Driver 0: pos -3359, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16248, writes 0 timeouts 0
2025-04-24 10:05:22 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37175
2025-04-24 10:05:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:22 [info] currentZPosition:0.0141
2025-04-24 10:05:24 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:24 [debug] Diagnostics for board 50:
2025-04-24 10:05:24 [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 10:05:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:28 ago, cause: software
2025-04-24 10:05:24 [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 10:05:24 [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 10:05:24 [debug] Moves scheduled 764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:24 [debug] Driver 0: pos -3369, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 19455, writes 0 timeouts 0
2025-04-24 10:05:24 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36172/37170
2025-04-24 10:05:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:24 [info] currentZPosition:0.0131
2025-04-24 10:05:25 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:25 [debug] Diagnostics for board 50:
2025-04-24 10:05:25 [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 10:05:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:30 ago, cause: software
2025-04-24 10:05:25 [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 10:05:25 [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 10:05:25 [debug] Moves scheduled 768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:25 [debug] Driver 0: pos -3360, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16275, writes 0 timeouts 0
2025-04-24 10:05:25 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36278/37172
2025-04-24 10:05:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:25 [info] currentZPosition:0.0140
2025-04-24 10:05:27 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:27 [debug] Diagnostics for board 50:
2025-04-24 10:05:27 [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 10:05:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:31 ago, cause: software
2025-04-24 10:05:27 [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 10:05:27 [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 10:05:27 [debug] Moves scheduled 772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17857
Sync err accum 73, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:27 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 19795, writes 0 timeouts 0
2025-04-24 10:05:27 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36188/37171
2025-04-24 10:05:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:27 [info] currentZPosition:0.0118
2025-04-24 10:05:27 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:28 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:28 [debug] Diagnostics for board 50:
2025-04-24 10:05:28 [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 10:05:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:33 ago, cause: software
2025-04-24 10:05:28 [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 10:05:28 [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 10:05:28 [debug] Moves scheduled 778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:05:28 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20217, writes 0 timeouts 0
2025-04-24 10:05:28 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36268/37177
2025-04-24 10:05:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:28 [info] currentZPosition:0.0127
2025-04-24 10:05:30 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:30 [debug] Diagnostics for board 50:
2025-04-24 10:05:30 [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 10:05:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:34 ago, cause: software
2025-04-24 10:05:30 [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 10:05:30 [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 10:05:30 [debug] Moves scheduled 782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:30 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 19205, writes 0 timeouts 0
2025-04-24 10:05:30 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36187/37176
2025-04-24 10:05:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8362, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:30 [info] currentZPosition:0.0128
2025-04-24 10:05:31 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:31 [debug] Diagnostics for board 50:
2025-04-24 10:05:31 [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 10:05:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:36 ago, cause: software
2025-04-24 10:05:31 [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 10:05:31 [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 10:05:31 [debug] Moves scheduled 786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:31 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16478, writes 0 timeouts 0
2025-04-24 10:05:31 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36280/37174
2025-04-24 10:05:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:31 [info] currentZPosition:0.0128
2025-04-24 10:05:33 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:33 [debug] Diagnostics for board 50:
2025-04-24 10:05:33 [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 10:05:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:07:37 ago, cause: software
2025-04-24 10:05:33 [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 10:05:33 [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 10:05:33 [debug] Moves scheduled 790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:33 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 19011, writes 0 timeouts 0
2025-04-24 10:05:33 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36183/37174
2025-04-24 10:05:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:33 [info] currentZPosition:0.0133
2025-04-24 10:05:34 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:34 [debug] Diagnostics for board 50:
2025-04-24 10:05:34 [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 10:05:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:39 ago, cause: software
2025-04-24 10:05:34 [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 10:05:34 [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 10:05:34 [debug] Moves scheduled 794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:34 [debug] Driver 0: pos -3362, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16348, writes 0 timeouts 0
2025-04-24 10:05:34 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36271/37178
2025-04-24 10:05:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:34 [info] currentZPosition:0.0139
2025-04-24 10:05:35 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:35 [debug] Diagnostics for board 50:
2025-04-24 10:05:35 [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 10:05:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:40 ago, cause: software
2025-04-24 10:05:35 [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 10:05:35 [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 10:05:35 [debug] Moves scheduled 798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=113, frequency (Hz): min=6198, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:05:35 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 19625, writes 0 timeouts 0
2025-04-24 10:05:35 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36186/37172
2025-04-24 10:05:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:35 [info] currentZPosition:0.0122
2025-04-24 10:05:36 [debug] Stopped at height 0.011 mm
2025-04-24 10:05:37 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:37 [debug] Diagnostics for board 50:
2025-04-24 10:05:37 [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 10:05:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:42 ago, cause: software
2025-04-24 10:05:37 [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 10:05:37 [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 10:05:37 [debug] Moves scheduled 804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:37 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 20098, writes 0 timeouts 0
2025-04-24 10:05:37 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36290/37178
2025-04-24 10:05:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:37 [info] currentZPosition:0.0137
2025-04-24 10:05:37 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:39 [debug] Stopped at height 0.015 mm
2025-04-24 10:05:39 [debug] Diagnostics for board 50:
2025-04-24 10:05:39 [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 10:05:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:44 ago, cause: software
2025-04-24 10:05:39 [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 10:05:39 [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 10:05:39 [debug] Moves scheduled 810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:39 [debug] Driver 0: pos -3357, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 22762, writes 0 timeouts 0
2025-04-24 10:05:39 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36170/37178
2025-04-24 10:05:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:39 [info] currentZPosition:0.0146
2025-04-24 10:05:40 [debug] Stopped at height 0.015 mm
2025-04-24 10:05:40 [debug] Diagnostics for board 50:
2025-04-24 10:05:40 [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 10:05:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:45 ago, cause: software
2025-04-24 10:05:40 [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 10:05:40 [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 10:05:40 [debug] Moves scheduled 814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 70, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:40 [debug] Driver 0: pos -3358, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16600, writes 0 timeouts 0
2025-04-24 10:05:40 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36284/37173
2025-04-24 10:05:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 789
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:40 [info] currentZPosition:0.0145
2025-04-24 10:05:42 [debug] Stopped at height 0.015 mm
2025-04-24 10:05:42 [debug] Diagnostics for board 50:
2025-04-24 10:05:42 [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 10:05:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:46 ago, cause: software
2025-04-24 10:05:42 [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 10:05:42 [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 10:05:42 [debug] Moves scheduled 818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5859, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:42 [debug] Driver 0: pos -3354, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19005, writes 0 timeouts 0
2025-04-24 10:05:42 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36178/37174
2025-04-24 10:05:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 788
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:42 [info] currentZPosition:0.0149
2025-04-24 10:05:43 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:43 [debug] Diagnostics for board 50:
2025-04-24 10:05:43 [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 10:05:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:48 ago, cause: software
2025-04-24 10:05:43 [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 10:05:43 [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 10:05:43 [debug] Moves scheduled 822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:05:43 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16839, writes 0 timeouts 0
2025-04-24 10:05:43 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36283/37178
2025-04-24 10:05:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:43 [info] currentZPosition:0.0139
2025-04-24 10:05:45 [debug] Stopped at height 0.015 mm
2025-04-24 10:05:45 [debug] Diagnostics for board 50:
2025-04-24 10:05:45 [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 10:05:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:49 ago, cause: software
2025-04-24 10:05:45 [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 10:05:45 [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 10:05:45 [debug] Moves scheduled 826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:45 [debug] Driver 0: pos -3351, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 18791, writes 0 timeouts 0
2025-04-24 10:05:45 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36180/37170
2025-04-24 10:05:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 787
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:45 [info] currentZPosition:0.0152
2025-04-24 10:05:45 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:46 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:46 [debug] Diagnostics for board 50:
2025-04-24 10:05:46 [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 10:05:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:51 ago, cause: software
2025-04-24 10:05:46 [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 10:05:46 [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 10:05:46 [debug] Moves scheduled 832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6818, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:46 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20989, writes 0 timeouts 0
2025-04-24 10:05:46 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36279/37175
2025-04-24 10:05:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:46 [info] currentZPosition:0.0132
2025-04-24 10:05:48 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:48 [debug] Diagnostics for board 50:
2025-04-24 10:05:48 [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 10:05:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:53 ago, cause: software
2025-04-24 10:05:48 [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 10:05:48 [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 10:05:48 [debug] Moves scheduled 836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 64, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:05:48 [debug] Driver 0: pos -3386, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 19550, writes 0 timeouts 0
2025-04-24 10:05:48 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36173/37171
2025-04-24 10:05:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8428, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:48 [info] currentZPosition:0.0118
2025-04-24 10:05:48 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:49 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:49 [debug] Diagnostics for board 50:
2025-04-24 10:05:49 [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 10:05:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:54 ago, cause: software
2025-04-24 10:05:49 [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 10:05:49 [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 10:05:49 [debug] Moves scheduled 842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 67, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:49 [debug] Driver 0: pos -3371, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 19888, writes 0 timeouts 0
2025-04-24 10:05:49 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36280/37178
2025-04-24 10:05:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:49 [info] currentZPosition:0.0134
2025-04-24 10:05:50 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:51 [debug] Stopped at height 0.014 mm
2025-04-24 10:05:51 [debug] Diagnostics for board 50:
2025-04-24 10:05:51 [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 10:05:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:56 ago, cause: software
2025-04-24 10:05:51 [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 10:05:51 [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 10:05:51 [debug] Moves scheduled 848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 80, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:51 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 22929, writes 0 timeouts 0
2025-04-24 10:05:51 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37170
2025-04-24 10:05:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:51 [info] currentZPosition:0.0140
2025-04-24 10:05:52 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:53 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:53 [debug] Diagnostics for board 50:
2025-04-24 10:05:53 [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 10:05:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:58 ago, cause: software
2025-04-24 10:05:53 [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 10:05:53 [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 10:05:53 [debug] Moves scheduled 854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17857
Sync err accum 85, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:53 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20746, writes 0 timeouts 0
2025-04-24 10:05:53 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36288/37169
2025-04-24 10:05:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:53 [info] currentZPosition:0.0131
2025-04-24 10:05:54 [debug] Stopped at height 0.015 mm
2025-04-24 10:05:54 [debug] Diagnostics for board 50:
2025-04-24 10:05:54 [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 10:05:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:59 ago, cause: software
2025-04-24 10:05:54 [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 10:05:54 [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 10:05:54 [debug] Moves scheduled 858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:54 [debug] Driver 0: pos -3363, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 18699, writes 0 timeouts 0
2025-04-24 10:05:54 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36186/37173
2025-04-24 10:05:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:54 [info] currentZPosition:0.0146
2025-04-24 10:05:55 [debug] Stopped at height 0.015 mm
2025-04-24 10:05:56 [debug] Stopped at height 0.012 mm
2025-04-24 10:05:56 [debug] Diagnostics for board 50:
2025-04-24 10:05:56 [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 10:05:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:01 ago, cause: software
2025-04-24 10:05:56 [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 10:05:56 [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 10:05:56 [debug] Moves scheduled 864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 67, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:05:56 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21193, writes 0 timeouts 0
2025-04-24 10:05:56 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36267/37177
2025-04-24 10:05:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8443, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:56 [info] currentZPosition:0.0121
2025-04-24 10:05:56 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:58 [debug] Stopped at height 0.013 mm
2025-04-24 10:05:58 [debug] Diagnostics for board 50:
2025-04-24 10:05:58 [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 10:05:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:03 ago, cause: software
2025-04-24 10:05:58 [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 10:05:58 [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 10:05:58 [debug] Moves scheduled 870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 67, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:05:58 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 22772, writes 0 timeouts 0
2025-04-24 10:05:58 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36180/37178
2025-04-24 10:05:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8418, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:58 [info] currentZPosition:0.0128
2025-04-24 10:05:59 [debug] Stopped at height 0.015 mm
2025-04-24 10:05:59 [debug] Diagnostics for board 50:
2025-04-24 10:05:59 [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 10:05:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:04 ago, cause: software
2025-04-24 10:05:59 [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 10:05:59 [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 10:05:59 [debug] Moves scheduled 874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17441
Sync err accum 78, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:05:59 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 15957, writes 0 timeouts 0
2025-04-24 10:05:59 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36278/37173
2025-04-24 10:05:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:05:59 [info] currentZPosition:0.0147
2025-04-24 10:05:59 [debug] Stopped at height 0.017 mm
2025-04-24 10:06:00 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:01 [debug] Stopped at height 0.011 mm
2025-04-24 10:06:01 [debug] Diagnostics for board 50:
2025-04-24 10:06:01 [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 10:06:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:06 ago, cause: software
2025-04-24 10:06:01 [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 10:06:01 [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 10:06:01 [debug] Moves scheduled 882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=18292
Sync err accum 86, peak jitter -1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:01 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 28276, writes 0 timeouts 0
2025-04-24 10:06:01 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 292, adv 36180/37176
2025-04-24 10:06:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8498, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:01 [info] currentZPosition:0.0113
2025-04-24 10:06:02 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:03 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:03 [debug] Diagnostics for board 50:
2025-04-24 10:06:03 [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 10:06:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:08 ago, cause: software
2025-04-24 10:06:03 [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 10:06:03 [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 10:06:03 [debug] Moves scheduled 888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:03 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 19694, writes 0 timeouts 0
2025-04-24 10:06:03 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36286/37173
2025-04-24 10:06:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:03 [info] currentZPosition:0.0140
2025-04-24 10:06:04 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:04 [debug] Diagnostics for board 50:
2025-04-24 10:06:04 [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 10:06:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:09 ago, cause: software
2025-04-24 10:06:04 [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 10:06:04 [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 10:06:04 [debug] Moves scheduled 892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:04 [debug] Driver 0: pos -3369, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 18976, writes 0 timeouts 0
2025-04-24 10:06:04 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36160/37171
2025-04-24 10:06:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:05 [info] currentZPosition:0.0145
2025-04-24 10:06:06 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:06 [debug] Diagnostics for board 50:
2025-04-24 10:06:06 [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 10:06:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:11 ago, cause: software
2025-04-24 10:06:06 [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 10:06:06 [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 10:06:06 [debug] Moves scheduled 896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 59, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:06 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16800, writes 0 timeouts 0
2025-04-24 10:06:06 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36282/37178
2025-04-24 10:06:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8387, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:06 [info] currentZPosition:0.0136
2025-04-24 10:06:07 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:07 [debug] Diagnostics for board 50:
2025-04-24 10:06:07 [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 10:06:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:12 ago, cause: software
2025-04-24 10:06:07 [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 10:06:07 [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 10:06:07 [debug] Moves scheduled 900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=113, frequency (Hz): min=6756, max=17045
Sync err accum 74, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:07 [debug] Driver 0: pos -3366, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 18776, writes 0 timeouts 0
2025-04-24 10:06:07 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36171/37167
2025-04-24 10:06:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:07 [info] currentZPosition:0.0148
2025-04-24 10:06:09 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:09 [debug] Diagnostics for board 50:
2025-04-24 10:06:09 [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 10:06:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:13 ago, cause: software
2025-04-24 10:06:09 [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 10:06:09 [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 10:06:09 [debug] Moves scheduled 904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:06:09 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16973, writes 0 timeouts 0
2025-04-24 10:06:09 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36280/37174
2025-04-24 10:06:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:09 [info] currentZPosition:0.0134
2025-04-24 10:06:09 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:11 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:11 [debug] Diagnostics for board 50:
2025-04-24 10:06:11 [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 10:06:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:15 ago, cause: software
2025-04-24 10:06:11 [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 10:06:11 [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 10:06:11 [debug] Moves scheduled 910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:11 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 22996, writes 0 timeouts 0
2025-04-24 10:06:11 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36186/37171
2025-04-24 10:06:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8394, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:11 [info] currentZPosition:0.0136
2025-04-24 10:06:12 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:12 [debug] Diagnostics for board 50:
2025-04-24 10:06:12 [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 10:06:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:17 ago, cause: software
2025-04-24 10:06:12 [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 10:06:12 [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 10:06:12 [debug] Moves scheduled 914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:12 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16445, writes 0 timeouts 0
2025-04-24 10:06:12 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36278/37177
2025-04-24 10:06:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:12 [info] currentZPosition:0.0137
2025-04-24 10:06:13 [debug] Stopped at height 0.012 mm
2025-04-24 10:06:13 [debug] Diagnostics for board 50:
2025-04-24 10:06:13 [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 10:06:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:18 ago, cause: software
2025-04-24 10:06:13 [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 10:06:13 [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 10:06:13 [debug] Moves scheduled 918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:06:13 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 19817, writes 0 timeouts 0
2025-04-24 10:06:13 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36171/37175
2025-04-24 10:06:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8501, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:14 [info] currentZPosition:0.0115
2025-04-24 10:06:14 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:15 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:15 [debug] Diagnostics for board 50:
2025-04-24 10:06:15 [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 10:06:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:20 ago, cause: software
2025-04-24 10:06:15 [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 10:06:15 [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 10:06:15 [debug] Moves scheduled 924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 63, peak jitter -3/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:15 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19692, writes 0 timeouts 0
2025-04-24 10:06:15 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36278/37177
2025-04-24 10:06:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8385, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:15 [info] currentZPosition:0.0138
2025-04-24 10:06:17 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:17 [debug] Diagnostics for board 50:
2025-04-24 10:06:17 [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 10:06:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:21 ago, cause: software
2025-04-24 10:06:17 [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 10:06:17 [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 10:06:17 [debug] Moves scheduled 928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 76, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294937042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:17 [debug] Driver 0: pos -3367, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 18792, writes 0 timeouts 0
2025-04-24 10:06:17 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36181/37172
2025-04-24 10:06:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:17 [info] currentZPosition:0.0150
2025-04-24 10:06:18 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:18 [debug] Diagnostics for board 50:
2025-04-24 10:06:18 [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 10:06:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:23 ago, cause: software
2025-04-24 10:06:18 [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 10:06:18 [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 10:06:18 [debug] Moves scheduled 932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 82, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:06:18 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16966, writes 0 timeouts 0
2025-04-24 10:06:18 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36283/37176
2025-04-24 10:06:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8404, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:18 [info] currentZPosition:0.0136
2025-04-24 10:06:18 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:20 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:20 [debug] Diagnostics for board 50:
2025-04-24 10:06:20 [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 10:06:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:24 ago, cause: software
2025-04-24 10:06:20 [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 10:06:20 [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 10:06:20 [debug] Moves scheduled 938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:20 [debug] Driver 0: pos -3367, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 22600, writes 0 timeouts 0
2025-04-24 10:06:20 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36181/37175
2025-04-24 10:06:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:20 [info] currentZPosition:0.0151
2025-04-24 10:06:21 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:21 [debug] Diagnostics for board 50:
2025-04-24 10:06:21 [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 10:06:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:26 ago, cause: software
2025-04-24 10:06:21 [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 10:06:21 [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 10:06:21 [debug] Moves scheduled 942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:21 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17174, writes 0 timeouts 0
2025-04-24 10:06:21 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36283/37176
2025-04-24 10:06:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8437, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:21 [info] currentZPosition:0.0131
2025-04-24 10:06:21 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:23 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:23 [debug] Diagnostics for board 50:
2025-04-24 10:06:23 [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 10:06:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:28 ago, cause: software
2025-04-24 10:06:23 [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 10:06:23 [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 10:06:23 [debug] Moves scheduled 948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 61, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:23 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 22762, writes 0 timeouts 0
2025-04-24 10:06:23 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36173/37176
2025-04-24 10:06:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:23 [info] currentZPosition:0.0139
2025-04-24 10:06:23 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:24 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:24 [debug] Diagnostics for board 50:
2025-04-24 10:06:24 [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 10:06:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:08:29 ago, cause: software
2025-04-24 10:06:24 [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 10:06:24 [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 10:06:24 [debug] Moves scheduled 954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6302, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:24 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 19909, writes 0 timeouts 0
2025-04-24 10:06:24 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37175
2025-04-24 10:06:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:25 [info] currentZPosition:0.0156
2025-04-24 10:06:25 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:25 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:27 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:27 [debug] Diagnostics for board 50:
2025-04-24 10:06:27 [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 10:06:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:31 ago, cause: software
2025-04-24 10:06:27 [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 10:06:27 [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 10:06:27 [debug] Moves scheduled 962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6637, max=17857
Sync err accum 73, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936094 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:27 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 27884, writes 0 timeouts 0
2025-04-24 10:06:27 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 288, adv 36186/37175
2025-04-24 10:06:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8451, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:27 [info] currentZPosition:0.0132
2025-04-24 10:06:27 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:28 [debug] Stopped at height 0.012 mm
2025-04-24 10:06:28 [debug] Diagnostics for board 50:
2025-04-24 10:06:28 [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 10:06:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:33 ago, cause: software
2025-04-24 10:06:28 [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 10:06:28 [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 10:06:28 [debug] Moves scheduled 968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:28 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20803, writes 0 timeouts 0
2025-04-24 10:06:28 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36282/37176
2025-04-24 10:06:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8510, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:28 [info] currentZPosition:0.0121
2025-04-24 10:06:30 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:30 [debug] Diagnostics for board 50:
2025-04-24 10:06:30 [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 10:06:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:35 ago, cause: software
2025-04-24 10:06:30 [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 10:06:30 [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 10:06:30 [debug] Moves scheduled 972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 66, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:30 [debug] Driver 0: pos -3376, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 18388, writes 0 timeouts 0
2025-04-24 10:06:30 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36182/37175
2025-04-24 10:06:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8380, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:30 [info] currentZPosition:0.0147
2025-04-24 10:06:30 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:32 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:32 [debug] Diagnostics for board 50:
2025-04-24 10:06:32 [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 10:06:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:36 ago, cause: software
2025-04-24 10:06:32 [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 10:06:32 [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 10:06:32 [debug] Moves scheduled 978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:06:32 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20666, writes 0 timeouts 0
2025-04-24 10:06:32 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36283/37176
2025-04-24 10:06:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8445, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:32 [info] currentZPosition:0.0135
2025-04-24 10:06:32 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:33 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:33 [debug] Diagnostics for board 50:
2025-04-24 10:06:33 [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 10:06:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:38 ago, cause: software
2025-04-24 10:06:33 [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 10:06:33 [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 10:06:33 [debug] Moves scheduled 984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=18292
Sync err accum 63, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:33 [debug] Driver 0: pos -3361, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 22230, writes 0 timeouts 0
2025-04-24 10:06:33 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36183/37174
2025-04-24 10:06:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:33 [info] currentZPosition:0.0164
2025-04-24 10:06:34 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:35 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:35 [debug] Diagnostics for board 50:
2025-04-24 10:06:35 [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 10:06:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:40 ago, cause: software
2025-04-24 10:06:35 [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 10:06:35 [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 10:06:35 [debug] Moves scheduled 990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294930489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:06:35 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 21448, writes 0 timeouts 0
2025-04-24 10:06:35 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36281/37172
2025-04-24 10:06:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8440, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:35 [info] currentZPosition:0.0138
2025-04-24 10:06:35 [debug] Stopped at height 0.013 mm
2025-04-24 10:06:37 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:37 [debug] Diagnostics for board 50:
2025-04-24 10:06:37 [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 10:06:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:42 ago, cause: software
2025-04-24 10:06:37 [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 10:06:37 [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 10:06:37 [debug] Moves scheduled 996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:06:37 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 23030, writes 0 timeouts 0
2025-04-24 10:06:37 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36172/37174
2025-04-24 10:06:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8426, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:37 [info] currentZPosition:0.0142
2025-04-24 10:06:38 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:38 [debug] Diagnostics for board 50:
2025-04-24 10:06:38 [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 10:06:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:43 ago, cause: software
2025-04-24 10:06:38 [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 10:06:38 [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 10:06:38 [debug] Moves scheduled 1000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 74, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:38 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16131, writes 0 timeouts 0
2025-04-24 10:06:38 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36183/37174
2025-04-24 10:06:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8359, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:38 [info] currentZPosition:0.0155
2025-04-24 10:06:39 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:40 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:40 [debug] Diagnostics for board 50:
2025-04-24 10:06:40 [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 10:06:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:45 ago, cause: software
2025-04-24 10:06:40 [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 10:06:40 [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 10:06:40 [debug] Moves scheduled 1006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 61, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:06:40 [debug] Driver 0: pos -3370, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 22971, writes 0 timeouts 0
2025-04-24 10:06:40 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36167/37175
2025-04-24 10:06:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8348, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:40 [info] currentZPosition:0.0159
2025-04-24 10:06:41 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:41 [debug] Diagnostics for board 50:
2025-04-24 10:06:41 [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 10:06:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:46 ago, cause: software
2025-04-24 10:06:41 [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 10:06:41 [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 10:06:41 [debug] Moves scheduled 1010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 70, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:41 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16648, writes 0 timeouts 0
2025-04-24 10:06:41 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36259/37177
2025-04-24 10:06:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8365, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:41 [info] currentZPosition:0.0156
2025-04-24 10:06:43 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:43 [debug] Diagnostics for board 50:
2025-04-24 10:06:43 [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 10:06:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:48 ago, cause: software
2025-04-24 10:06:43 [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 10:06:43 [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 10:06:43 [debug] Moves scheduled 1014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6000, max=17045
Sync err accum 82, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:43 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 19104, writes 0 timeouts 0
2025-04-24 10:06:43 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36163/37170
2025-04-24 10:06:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8357, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:43 [info] currentZPosition:0.0157
2025-04-24 10:06:44 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:44 [debug] Diagnostics for board 50:
2025-04-24 10:06:44 [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 10:06:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:49 ago, cause: software
2025-04-24 10:06:44 [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 10:06:44 [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 10:06:44 [debug] Moves scheduled 1018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:44 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16321, writes 0 timeouts 0
2025-04-24 10:06:44 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36282/37174
2025-04-24 10:06:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:44 [info] currentZPosition:0.0164
2025-04-24 10:06:46 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:46 [debug] Diagnostics for board 50:
2025-04-24 10:06:46 [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 10:06:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:50 ago, cause: software
2025-04-24 10:06:46 [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 10:06:46 [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 10:06:46 [debug] Moves scheduled 1022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 94, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294930532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:46 [debug] Driver 0: pos -3376, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 19588, writes 0 timeouts 0
2025-04-24 10:06:46 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36184/37172
2025-04-24 10:06:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8380, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:46 [info] currentZPosition:0.0153
2025-04-24 10:06:47 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:47 [debug] Diagnostics for board 50:
2025-04-24 10:06:47 [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 10:06:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:52 ago, cause: software
2025-04-24 10:06:47 [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 10:06:47 [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 10:06:47 [debug] Moves scheduled 1026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17857
Sync err accum 89, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:47 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16737, writes 0 timeouts 0
2025-04-24 10:06:47 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36282/37175
2025-04-24 10:06:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8416, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:47 [info] currentZPosition:0.0146
2025-04-24 10:06:49 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:49 [debug] Diagnostics for board 50:
2025-04-24 10:06:49 [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 10:06:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:53 ago, cause: software
2025-04-24 10:06:49 [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 10:06:49 [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 10:06:49 [debug] Moves scheduled 1030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:06:49 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 19339, writes 0 timeouts 0
2025-04-24 10:06:49 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36172/37175
2025-04-24 10:06:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8441, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:49 [info] currentZPosition:0.0141
2025-04-24 10:06:50 [debug] Stopped at height 0.014 mm
2025-04-24 10:06:50 [debug] Diagnostics for board 50:
2025-04-24 10:06:50 [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 10:06:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:55 ago, cause: software
2025-04-24 10:06:50 [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 10:06:50 [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 10:06:50 [debug] Moves scheduled 1034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:06:50 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16434, writes 0 timeouts 0
2025-04-24 10:06:50 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37179
2025-04-24 10:06:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8428, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:50 [info] currentZPosition:0.0144
2025-04-24 10:06:51 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:51 [debug] Diagnostics for board 50:
2025-04-24 10:06:51 [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 10:06:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:56 ago, cause: software
2025-04-24 10:06:51 [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 10:06:51 [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 10:06:51 [debug] Moves scheduled 1038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=493, max=17045
Sync err accum 66, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:06:51 [debug] Driver 0: pos -3369, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 18678, writes 11 timeouts 1
2025-04-24 10:06:51 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35996/37174
2025-04-24 10:06:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:51 [info] currentZPosition:0.0160
2025-04-24 10:06:52 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:53 [debug] Stopped at height 0.016 mm
2025-04-24 10:06:53 [debug] Diagnostics for board 50:
2025-04-24 10:06:53 [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 10:06:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:58 ago, cause: software
2025-04-24 10:06:53 [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 10:06:53 [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 10:06:53 [debug] Moves scheduled 1044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:53 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20545, writes 0 timeouts 0
2025-04-24 10:06:53 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36282/37175
2025-04-24 10:06:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8371, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:53 [info] currentZPosition:0.0156
2025-04-24 10:06:55 [debug] Stopped at height 0.017 mm
2025-04-24 10:06:55 [debug] Diagnostics for board 50:
2025-04-24 10:06:55 [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 10:06:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:59 ago, cause: software
2025-04-24 10:06:55 [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 10:06:55 [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 10:06:55 [debug] Moves scheduled 1048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:55 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 18851, writes 0 timeouts 0
2025-04-24 10:06:55 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36176/37169
2025-04-24 10:06:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:55 [info] currentZPosition:0.0166
2025-04-24 10:06:56 [debug] Stopped at height 0.017 mm
2025-04-24 10:06:56 [debug] Diagnostics for board 50:
2025-04-24 10:06:56 [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 10:06:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:01 ago, cause: software
2025-04-24 10:06:56 [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 10:06:56 [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 10:06:56 [debug] Moves scheduled 1052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6637, max=17857
Sync err accum 68, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:56 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16611, writes 0 timeouts 0
2025-04-24 10:06:56 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37175
2025-04-24 10:06:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:56 [info] currentZPosition:0.0166
2025-04-24 10:06:57 [debug] Stopped at height 0.015 mm
2025-04-24 10:06:57 [debug] Diagnostics for board 50:
2025-04-24 10:06:57 [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 10:06:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:02 ago, cause: software
2025-04-24 10:06:57 [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 10:06:57 [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 10:06:57 [debug] Moves scheduled 1056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:57 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 19626, writes 0 timeouts 0
2025-04-24 10:06:57 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36179/37173
2025-04-24 10:06:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:58 [info] currentZPosition:0.0150
2025-04-24 10:06:58 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 10:06:59 [debug] Stopped at height 0.017 mm
2025-04-24 10:06:59 [debug] Diagnostics for board 50:
2025-04-24 10:06:59 [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 10:06:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:04 ago, cause: software
2025-04-24 10:06:59 [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 10:06:59 [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 10:06:59 [debug] Moves scheduled 1061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:06:59 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 19223, writes 0 timeouts 0
2025-04-24 10:06:59 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36275/37174
2025-04-24 10:06:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:06:59 [info] currentZPosition:0.0166
2025-04-24 10:07:00 [debug] Stopped at height 0.019 mm
2025-04-24 10:07:00 [debug] Diagnostics for board 50:
2025-04-24 10:07:00 [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 10:07:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:05 ago, cause: software
2025-04-24 10:07:00 [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 10:07:00 [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 10:07:00 [debug] Moves scheduled 1065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=18292
Sync err accum 69, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:00 [debug] Driver 0: pos -3341, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 18454, writes 0 timeouts 0
2025-04-24 10:07:00 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36181/37172
2025-04-24 10:07:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 786
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8199, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 786
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:01 [info] currentZPosition:0.0189
2025-04-24 10:07:01 [debug] Stopped at height 0.014 mm
2025-04-24 10:07:01 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 10:07:02 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:02 [debug] Diagnostics for board 50:
2025-04-24 10:07:02 [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 10:07:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:07 ago, cause: software
2025-04-24 10:07:02 [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 10:07:02 [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 10:07:02 [debug] Moves scheduled 1072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:02 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 24752, writes 0 timeouts 0
2025-04-24 10:07:02 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36279/37177
2025-04-24 10:07:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8360, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:03 [info] currentZPosition:0.0159
2025-04-24 10:07:04 [debug] Stopped at height 0.015 mm
2025-04-24 10:07:04 [debug] Diagnostics for board 50:
2025-04-24 10:07:04 [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 10:07:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:09 ago, cause: software
2025-04-24 10:07:04 [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 10:07:04 [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 10:07:04 [debug] Moves scheduled 1076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17441
Sync err accum 65, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:04 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 19474, writes 0 timeouts 0
2025-04-24 10:07:04 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37173
2025-04-24 10:07:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:04 [info] currentZPosition:0.0149
2025-04-24 10:07:05 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:05 [debug] Diagnostics for board 50:
2025-04-24 10:07:05 [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 10:07:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:09:10 ago, cause: software
2025-04-24 10:07:05 [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 10:07:05 [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 10:07:05 [debug] Moves scheduled 1080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:07:05 [debug] Driver 0: pos -3363, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 15934, writes 0 timeouts 0
2025-04-24 10:07:05 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36284/37173
2025-04-24 10:07:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:05 [info] currentZPosition:0.0168
2025-04-24 10:07:06 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:07 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:07 [debug] Diagnostics for board 50:
2025-04-24 10:07:07 [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 10:07:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:12 ago, cause: software
2025-04-24 10:07:07 [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 10:07:07 [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 10:07:07 [debug] Moves scheduled 1086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=18292
Sync err accum 69, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:07 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 23337, writes 0 timeouts 0
2025-04-24 10:07:07 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36183/37175
2025-04-24 10:07:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:07 [info] currentZPosition:0.0159
2025-04-24 10:07:08 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:08 [debug] Diagnostics for board 50:
2025-04-24 10:07:08 [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 10:07:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:13 ago, cause: software
2025-04-24 10:07:08 [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 10:07:08 [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 10:07:08 [debug] Moves scheduled 1090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 61, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:08 [debug] Driver 0: pos -3365, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16211, writes 0 timeouts 0
2025-04-24 10:07:08 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36282/37178
2025-04-24 10:07:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:09 [info] currentZPosition:0.0167
2025-04-24 10:07:10 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:10 [debug] Diagnostics for board 50:
2025-04-24 10:07:10 [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 10:07:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:15 ago, cause: software
2025-04-24 10:07:10 [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 10:07:10 [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 10:07:10 [debug] Moves scheduled 1094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 75, peak jitter 0/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:10 [debug] Driver 0: pos -3370, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 19306, writes 0 timeouts 0
2025-04-24 10:07:10 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37174
2025-04-24 10:07:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8348, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:10 [info] currentZPosition:0.0163
2025-04-24 10:07:11 [debug] Stopped at height 0.014 mm
2025-04-24 10:07:11 [debug] Diagnostics for board 50:
2025-04-24 10:07:11 [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 10:07:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:16 ago, cause: software
2025-04-24 10:07:11 [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 10:07:11 [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 10:07:11 [debug] Moves scheduled 1098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:11 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17306, writes 0 timeouts 0
2025-04-24 10:07:11 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36266/37175
2025-04-24 10:07:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8468, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:11 [info] currentZPosition:0.0140
2025-04-24 10:07:12 [debug] Stopped at height 0.013 mm
2025-04-24 10:07:13 [debug] Stopped at height 0.014 mm
2025-04-24 10:07:13 [debug] Diagnostics for board 50:
2025-04-24 10:07:13 [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 10:07:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:18 ago, cause: software
2025-04-24 10:07:13 [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 10:07:13 [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 10:07:13 [debug] Moves scheduled 1104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17857
Sync err accum 87, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:13 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 23205, writes 0 timeouts 0
2025-04-24 10:07:13 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36170/37174
2025-04-24 10:07:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8484, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:13 [info] currentZPosition:0.0138
2025-04-24 10:07:15 [debug] Stopped at height 0.015 mm
2025-04-24 10:07:15 [debug] Diagnostics for board 50:
2025-04-24 10:07:15 [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 10:07:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:19 ago, cause: software
2025-04-24 10:07:15 [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 10:07:15 [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 10:07:15 [debug] Moves scheduled 1108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 87, peak jitter 0/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:07:15 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16054, writes 0 timeouts 0
2025-04-24 10:07:15 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36263/37177
2025-04-24 10:07:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8407, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:15 [info] currentZPosition:0.0154
2025-04-24 10:07:15 [debug] Stopped at height 0.015 mm
2025-04-24 10:07:16 [debug] Stopped at height 0.015 mm
2025-04-24 10:07:16 [debug] Diagnostics for board 50:
2025-04-24 10:07:16 [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 10:07:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:21 ago, cause: software
2025-04-24 10:07:16 [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 10:07:16 [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 10:07:16 [debug] Moves scheduled 1114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:16 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 23065, writes 0 timeouts 0
2025-04-24 10:07:16 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36172/37174
2025-04-24 10:07:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:16 [info] currentZPosition:0.0153
2025-04-24 10:07:18 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:18 [debug] Diagnostics for board 50:
2025-04-24 10:07:18 [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 10:07:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:22 ago, cause: software
2025-04-24 10:07:18 [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 10:07:18 [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 10:07:18 [debug] Moves scheduled 1118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:18 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16019, writes 0 timeouts 0
2025-04-24 10:07:18 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36196/37176
2025-04-24 10:07:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:18 [info] currentZPosition:0.0168
2025-04-24 10:07:18 [debug] Stopped at height 0.015 mm
2025-04-24 10:07:20 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:20 [debug] Diagnostics for board 50:
2025-04-24 10:07:20 [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 10:07:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:24 ago, cause: software
2025-04-24 10:07:20 [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 10:07:20 [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 10:07:20 [debug] Moves scheduled 1124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 71, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:20 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 23180, writes 0 timeouts 0
2025-04-24 10:07:20 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36171/37177
2025-04-24 10:07:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8365, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:20 [info] currentZPosition:0.0164
2025-04-24 10:07:20 [debug] Stopped at height 0.018 mm
2025-04-24 10:07:21 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:21 [debug] Diagnostics for board 50:
2025-04-24 10:07:21 [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 10:07:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:26 ago, cause: software
2025-04-24 10:07:21 [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 10:07:21 [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 10:07:21 [debug] Moves scheduled 1130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 82, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:21 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20417, writes 0 timeouts 0
2025-04-24 10:07:21 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36283/37173
2025-04-24 10:07:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8419, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:21 [info] currentZPosition:0.0155
2025-04-24 10:07:21 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:23 [debug] Stopped at height 0.015 mm
2025-04-24 10:07:23 [debug] Diagnostics for board 50:
2025-04-24 10:07:23 [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 10:07:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:28 ago, cause: software
2025-04-24 10:07:23 [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 10:07:23 [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 10:07:23 [debug] Moves scheduled 1136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:23 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 23139, writes 0 timeouts 0
2025-04-24 10:07:23 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36172/37174
2025-04-24 10:07:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8445, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:23 [info] currentZPosition:0.0150
2025-04-24 10:07:23 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:25 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:25 [debug] Diagnostics for board 50:
2025-04-24 10:07:25 [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 10:07:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:29 ago, cause: software
2025-04-24 10:07:25 [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 10:07:25 [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 10:07:25 [debug] Moves scheduled 1142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
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 4294933022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:25 [debug] Driver 0: pos -3376, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 19989, writes 0 timeouts 0
2025-04-24 10:07:25 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36284/37177
2025-04-24 10:07:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:25 [info] currentZPosition:0.0164
2025-04-24 10:07:26 [debug] Stopped at height 0.018 mm
2025-04-24 10:07:26 [debug] Diagnostics for board 50:
2025-04-24 10:07:26 [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 10:07:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:31 ago, cause: software
2025-04-24 10:07:26 [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 10:07:26 [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 10:07:26 [debug] Moves scheduled 1146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:26 [debug] Driver 0: pos -3364, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 18816, writes 0 timeouts 0
2025-04-24 10:07:26 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36188/37174
2025-04-24 10:07:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:26 [info] currentZPosition:0.0176
2025-04-24 10:07:27 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:27 [debug] Diagnostics for board 50:
2025-04-24 10:07:27 [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 10:07:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:32 ago, cause: software
2025-04-24 10:07:27 [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 10:07:27 [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 10:07:27 [debug] Moves scheduled 1150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936410 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:27 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16924, writes 0 timeouts 0
2025-04-24 10:07:27 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36287/37178
2025-04-24 10:07:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8387, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:28 [info] currentZPosition:0.0162
2025-04-24 10:07:28 [debug] Stopped at height 0.015 mm
2025-04-24 10:07:29 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:29 [debug] Diagnostics for board 50:
2025-04-24 10:07:29 [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 10:07:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:34 ago, cause: software
2025-04-24 10:07:29 [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 10:07:29 [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 10:07:29 [debug] Moves scheduled 1156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=499, max=18292
Sync err accum 70, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:07:29 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 22938, writes 11 timeouts 1
2025-04-24 10:07:29 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36184/37174
2025-04-24 10:07:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:29 [info] currentZPosition:0.0168
2025-04-24 10:07:31 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:31 [debug] Diagnostics for board 50:
2025-04-24 10:07:31 [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 10:07:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:35 ago, cause: software
2025-04-24 10:07:31 [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 10:07:31 [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 10:07:31 [debug] Moves scheduled 1160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 72, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:31 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16825, writes 0 timeouts 0
2025-04-24 10:07:31 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36282/37176
2025-04-24 10:07:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8417, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:31 [info] currentZPosition:0.0158
2025-04-24 10:07:32 [debug] Stopped at height 0.018 mm
2025-04-24 10:07:32 [debug] Diagnostics for board 50:
2025-04-24 10:07:32 [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 10:07:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:37 ago, cause: software
2025-04-24 10:07:32 [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 10:07:32 [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 10:07:32 [debug] Moves scheduled 1164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936400 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:32 [debug] Driver 0: pos -3363, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 18505, writes 0 timeouts 0
2025-04-24 10:07:32 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36185/37172
2025-04-24 10:07:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:32 [info] currentZPosition:0.0178
2025-04-24 10:07:32 [debug] Stopped at height 0.018 mm
2025-04-24 10:07:34 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:34 [debug] Diagnostics for board 50:
2025-04-24 10:07:34 [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 10:07:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:39 ago, cause: software
2025-04-24 10:07:34 [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 10:07:34 [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 10:07:34 [debug] Moves scheduled 1170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:34 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20790, writes 0 timeouts 0
2025-04-24 10:07:34 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37179
2025-04-24 10:07:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8401, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:34 [info] currentZPosition:0.0162
2025-04-24 10:07:34 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:36 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:36 [debug] Diagnostics for board 50:
2025-04-24 10:07:36 [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 10:07:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:40 ago, cause: software
2025-04-24 10:07:36 [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 10:07:36 [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 10:07:36 [debug] Moves scheduled 1176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:36 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 22883, writes 0 timeouts 0
2025-04-24 10:07:36 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37174
2025-04-24 10:07:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8393, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:36 [info] currentZPosition:0.0166
2025-04-24 10:07:37 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:37 [debug] Diagnostics for board 50:
2025-04-24 10:07:37 [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 10:07:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:42 ago, cause: software
2025-04-24 10:07:37 [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 10:07:37 [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 10:07:37 [debug] Moves scheduled 1180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:37 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16406, writes 0 timeouts 0
2025-04-24 10:07:37 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36278/37175
2025-04-24 10:07:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8372, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:37 [info] currentZPosition:0.0170
2025-04-24 10:07:39 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:39 [debug] Diagnostics for board 50:
2025-04-24 10:07:39 [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 10:07:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:43 ago, cause: software
2025-04-24 10:07:39 [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 10:07:39 [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 10:07:39 [debug] Moves scheduled 1184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:39 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 19577, writes 0 timeouts 0
2025-04-24 10:07:39 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36185/37171
2025-04-24 10:07:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8440, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:39 [info] currentZPosition:0.0157
2025-04-24 10:07:39 [debug] Stopped at height 0.018 mm
2025-04-24 10:07:40 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:40 [debug] Diagnostics for board 50:
2025-04-24 10:07:40 [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 10:07:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:45 ago, cause: software
2025-04-24 10:07:40 [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 10:07:40 [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 10:07:40 [debug] Moves scheduled 1190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:40 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20012, writes 0 timeouts 0
2025-04-24 10:07:40 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36282/37174
2025-04-24 10:07:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8376, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:40 [info] currentZPosition:0.0171
2025-04-24 10:07:42 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:42 [debug] Diagnostics for board 50:
2025-04-24 10:07:42 [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 10:07:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:46 ago, cause: software
2025-04-24 10:07:42 [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 10:07:42 [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 10:07:42 [debug] Moves scheduled 1194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 80, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:42 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 19433, writes 0 timeouts 0
2025-04-24 10:07:42 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36182/37169
2025-04-24 10:07:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8403, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:42 [info] currentZPosition:0.0165
2025-04-24 10:07:43 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:43 [debug] Diagnostics for board 50:
2025-04-24 10:07:43 [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 10:07:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:48 ago, cause: software
2025-04-24 10:07:43 [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 10:07:43 [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 10:07:43 [debug] Moves scheduled 1198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:43 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16316, writes 0 timeouts 0
2025-04-24 10:07:43 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36283/37178
2025-04-24 10:07:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:43 [info] currentZPosition:0.0173
2025-04-24 10:07:45 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:45 [debug] Diagnostics for board 50:
2025-04-24 10:07:45 [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 10:07:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:49 ago, cause: software
2025-04-24 10:07:45 [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 10:07:45 [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 10:07:45 [debug] Moves scheduled 1202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 67, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:45 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 19403, writes 0 timeouts 0
2025-04-24 10:07:45 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36187/37174
2025-04-24 10:07:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:45 [info] currentZPosition:0.0164
2025-04-24 10:07:46 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:46 [debug] Diagnostics for board 50:
2025-04-24 10:07:46 [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 10:07:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:51 ago, cause: software
2025-04-24 10:07:46 [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 10:07:46 [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 10:07:46 [debug] Moves scheduled 1206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6578, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:46 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16395, writes 0 timeouts 0
2025-04-24 10:07:46 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36282/37172
2025-04-24 10:07:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8385, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:46 [info] currentZPosition:0.0168
2025-04-24 10:07:47 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:47 [debug] Diagnostics for board 50:
2025-04-24 10:07:47 [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 10:07:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:52 ago, cause: software
2025-04-24 10:07:47 [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 10:07:47 [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 10:07:47 [debug] Moves scheduled 1210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:07:47 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 19294, writes 0 timeouts 0
2025-04-24 10:07:47 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36186/37172
2025-04-24 10:07:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:47 [info] currentZPosition:0.0166
2025-04-24 10:07:49 [debug] Stopped at height 0.018 mm
2025-04-24 10:07:49 [debug] Diagnostics for board 50:
2025-04-24 10:07:49 [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 10:07:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:53 ago, cause: software
2025-04-24 10:07:49 [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 10:07:49 [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 10:07:49 [debug] Moves scheduled 1214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17045
Sync err accum 76, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:07:49 [debug] Driver 0: pos -3369, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16205, writes 0 timeouts 0
2025-04-24 10:07:49 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36275/37170
2025-04-24 10:07:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:49 [info] currentZPosition:0.0177
2025-04-24 10:07:50 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:50 [debug] Diagnostics for board 50:
2025-04-24 10:07:50 [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 10:07:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:55 ago, cause: software
2025-04-24 10:07:50 [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 10:07:50 [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 10:07:50 [debug] Moves scheduled 1218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=18292
Sync err accum 76, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:50 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 19283, writes 0 timeouts 0
2025-04-24 10:07:50 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36163/37173
2025-04-24 10:07:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:50 [info] currentZPosition:0.0173
2025-04-24 10:07:52 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:52 [debug] Diagnostics for board 50:
2025-04-24 10:07:52 [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 10:07:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:56 ago, cause: software
2025-04-24 10:07:52 [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 10:07:52 [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 10:07:52 [debug] Moves scheduled 1222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:52 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16854, writes 0 timeouts 0
2025-04-24 10:07:52 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36284/37178
2025-04-24 10:07:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:52 [info] currentZPosition:0.0164
2025-04-24 10:07:53 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:53 [debug] Diagnostics for board 50:
2025-04-24 10:07:53 [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 10:07:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:58 ago, cause: software
2025-04-24 10:07:53 [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 10:07:53 [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 10:07:53 [debug] Moves scheduled 1226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 62, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:07:53 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 19252, writes 0 timeouts 0
2025-04-24 10:07:53 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36173/37173
2025-04-24 10:07:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8419, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:53 [info] currentZPosition:0.0162
2025-04-24 10:07:54 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:54 [debug] Diagnostics for board 50:
2025-04-24 10:07:54 [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 10:07:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:59 ago, cause: software
2025-04-24 10:07:54 [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 10:07:54 [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 10:07:54 [debug] Moves scheduled 1230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5952, max=17857
Sync err accum 72, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294936175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7
2025-04-24 10:07:54 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16290, writes 0 timeouts 0
2025-04-24 10:07:54 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36282/37175
2025-04-24 10:07:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8390, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:54 [info] currentZPosition:0.0168
2025-04-24 10:07:56 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:56 [debug] Diagnostics for board 50:
2025-04-24 10:07:56 [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 10:07:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:01 ago, cause: software
2025-04-24 10:07:56 [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 10:07:56 [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 10:07:56 [debug] Moves scheduled 1234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=546, max=17857
Sync err accum 80, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:07:56 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 19031, writes 11 timeouts 1
2025-04-24 10:07:56 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36186/37170
2025-04-24 10:07:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:56 [info] currentZPosition:0.0171
2025-04-24 10:07:57 [debug] Stopped at height 0.016 mm
2025-04-24 10:07:57 [debug] Diagnostics for board 50:
2025-04-24 10:07:57 [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 10:07:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:02 ago, cause: software
2025-04-24 10:07:57 [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 10:07:57 [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 10:07:57 [debug] Moves scheduled 1238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:57 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16758, writes 0 timeouts 0
2025-04-24 10:07:57 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36275/37175
2025-04-24 10:07:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:57 [info] currentZPosition:0.0164
2025-04-24 10:07:59 [debug] Stopped at height 0.017 mm
2025-04-24 10:07:59 [debug] Diagnostics for board 50:
2025-04-24 10:07:59 [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 10:07:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:04 ago, cause: software
2025-04-24 10:07:59 [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 10:07:59 [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 10:07:59 [debug] Moves scheduled 1242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:07:59 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 19064, writes 0 timeouts 0
2025-04-24 10:07:59 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36186/37171
2025-04-24 10:07:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8405, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:07:59 [info] currentZPosition:0.0165
2025-04-24 10:08:00 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:00 [debug] Diagnostics for board 50:
2025-04-24 10:08:00 [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 10:08:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:05 ago, cause: software
2025-04-24 10:08:00 [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 10:08:00 [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 10:08:00 [debug] Moves scheduled 1246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=18292
Sync err accum 78, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:00 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16709, writes 0 timeouts 0
2025-04-24 10:08:00 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37176
2025-04-24 10:08:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8437, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:00 [info] currentZPosition:0.0159
2025-04-24 10:08:02 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:02 [debug] Diagnostics for board 50:
2025-04-24 10:08:02 [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 10:08:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:06 ago, cause: software
2025-04-24 10:08:02 [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 10:08:02 [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 10:08:02 [debug] Moves scheduled 1250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6147, max=17045
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 4294933295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:02 [debug] Driver 0: pos -3377, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 18924, writes 0 timeouts 0
2025-04-24 10:08:02 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36187/37172
2025-04-24 10:08:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8388, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:02 [info] currentZPosition:0.0169
2025-04-24 10:08:03 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:03 [debug] Diagnostics for board 50:
2025-04-24 10:08:03 [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 10:08:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:08 ago, cause: software
2025-04-24 10:08:03 [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 10:08:03 [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 10:08:03 [debug] Moves scheduled 1254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:03 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16689, writes 0 timeouts 0
2025-04-24 10:08:03 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36282/37178
2025-04-24 10:08:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:03 [info] currentZPosition:0.0163
2025-04-24 10:08:05 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:05 [debug] Diagnostics for board 50:
2025-04-24 10:08:05 [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 10:08:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:09 ago, cause: software
2025-04-24 10:08:05 [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 10:08:05 [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 10:08:05 [debug] Moves scheduled 1258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 78, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:05 [debug] Driver 0: pos -3386, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 19215, writes 0 timeouts 0
2025-04-24 10:08:05 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 292, adv 36185/37174
2025-04-24 10:08:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8431, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:05 [info] currentZPosition:0.0160
2025-04-24 10:08:06 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:06 [debug] Diagnostics for board 50:
2025-04-24 10:08:06 [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 10:08:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:11 ago, cause: software
2025-04-24 10:08:06 [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 10:08:06 [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 10:08:06 [debug] Moves scheduled 1262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6198, max=17857
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 4294936573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:06 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16081, writes 0 timeouts 0
2025-04-24 10:08:06 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36274/37176
2025-04-24 10:08:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:06 [info] currentZPosition:0.0174
2025-04-24 10:08:06 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:08 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:08 [debug] Diagnostics for board 50:
2025-04-24 10:08:08 [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 10:08:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:12 ago, cause: software
2025-04-24 10:08:08 [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 10:08:08 [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 10:08:08 [debug] Moves scheduled 1268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6521, max=17045
Sync err accum 96, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:08 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 23140, writes 0 timeouts 0
2025-04-24 10:08:08 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36171/37173
2025-04-24 10:08:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8370, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:08 [info] currentZPosition:0.0173
2025-04-24 10:08:09 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:09 [debug] Diagnostics for board 50:
2025-04-24 10:08:09 [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 10:08:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:14 ago, cause: software
2025-04-24 10:08:09 [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 10:08:09 [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 10:08:09 [debug] Moves scheduled 1272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 98, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:09 [debug] Driver 0: pos -3376, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16809, writes 0 timeouts 0
2025-04-24 10:08:09 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35986/37177
2025-04-24 10:08:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:09 [info] currentZPosition:0.0171
2025-04-24 10:08:11 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:11 [debug] Diagnostics for board 50:
2025-04-24 10:08:11 [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 10:08:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:15 ago, cause: software
2025-04-24 10:08:11 [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 10:08:11 [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 10:08:11 [debug] Moves scheduled 1276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 91, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:11 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 19131, writes 0 timeouts 0
2025-04-24 10:08:11 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35733/37174
2025-04-24 10:08:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:11 [info] currentZPosition:0.0167
2025-04-24 10:08:12 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:12 [debug] Diagnostics for board 50:
2025-04-24 10:08:12 [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 10:08:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:17 ago, cause: software
2025-04-24 10:08:12 [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 10:08:12 [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 10:08:12 [debug] Moves scheduled 1280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:08:12 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16711, writes 0 timeouts 0
2025-04-24 10:08:12 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35859/37175
2025-04-24 10:08:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8364, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:12 [info] currentZPosition:0.0174
2025-04-24 10:08:13 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:13 [debug] Diagnostics for board 50:
2025-04-24 10:08:13 [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 10:08:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:18 ago, cause: software
2025-04-24 10:08:13 [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 10:08:13 [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 10:08:13 [debug] Moves scheduled 1284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 65, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:13 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 19337, writes 0 timeouts 0
2025-04-24 10:08:13 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35860/37176
2025-04-24 10:08:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8450, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:13 [info] currentZPosition:0.0157
2025-04-24 10:08:14 [debug] Stopped at height 0.015 mm
2025-04-24 10:08:15 [debug] Stopped at height 0.015 mm
2025-04-24 10:08:15 [debug] Diagnostics for board 50:
2025-04-24 10:08:15 [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 10:08:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:20 ago, cause: software
2025-04-24 10:08:15 [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 10:08:15 [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 10:08:15 [debug] Moves scheduled 1290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:15 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 21374, writes 0 timeouts 0
2025-04-24 10:08:15 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35735/37176
2025-04-24 10:08:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8500, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:15 [info] currentZPosition:0.0148
2025-04-24 10:08:17 [debug] Stopped at height 0.015 mm
2025-04-24 10:08:17 [debug] Diagnostics for board 50:
2025-04-24 10:08:17 [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 10:08:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.6%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:21 ago, cause: software
2025-04-24 10:08:17 [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 10:08:17 [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 10:08:17 [debug] Moves scheduled 1294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:17 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 18449, writes 0 timeouts 0
2025-04-24 10:08:17 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35986/37171
2025-04-24 10:08:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8485, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:17 [info] currentZPosition:0.0151
2025-04-24 10:08:18 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:18 [debug] Diagnostics for board 50:
2025-04-24 10:08:18 [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 10:08:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:23 ago, cause: software
2025-04-24 10:08:18 [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 10:08:18 [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 10:08:18 [debug] Moves scheduled 1298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:18 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16631, writes 0 timeouts 0
2025-04-24 10:08:18 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36186/37172
2025-04-24 10:08:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8365, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:18 [info] currentZPosition:0.0175
2025-04-24 10:08:18 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:20 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:20 [debug] Diagnostics for board 50:
2025-04-24 10:08:20 [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 10:08:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:25 ago, cause: software
2025-04-24 10:08:20 [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 10:08:20 [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 10:08:20 [debug] Moves scheduled 1304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 66, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:20 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 22879, writes 0 timeouts 0
2025-04-24 10:08:20 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36257/37175
2025-04-24 10:08:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8472, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:20 [info] currentZPosition:0.0155
2025-04-24 10:08:21 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:21 [debug] Diagnostics for board 50:
2025-04-24 10:08:21 [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 10:08:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:26 ago, cause: software
2025-04-24 10:08:21 [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 10:08:21 [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 10:08:21 [debug] Moves scheduled 1308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17441
Sync err accum 63, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:21 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16897, writes 0 timeouts 0
2025-04-24 10:08:21 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37174
2025-04-24 10:08:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:21 [info] currentZPosition:0.0176
2025-04-24 10:08:22 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:23 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:23 [debug] Diagnostics for board 50:
2025-04-24 10:08:23 [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 10:08:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:28 ago, cause: software
2025-04-24 10:08:23 [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 10:08:23 [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 10:08:23 [debug] Moves scheduled 1314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 80, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:23 [debug] Driver 0: pos -3386, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 22394, writes 0 timeouts 0
2025-04-24 10:08:23 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36348/37173
2025-04-24 10:08:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8432, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:23 [info] currentZPosition:0.0164
2025-04-24 10:08:24 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:24 [debug] Diagnostics for board 50:
2025-04-24 10:08:24 [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 10:08:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:29 ago, cause: software
2025-04-24 10:08:24 [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 10:08:24 [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 10:08:24 [debug] Moves scheduled 1318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:24 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17801, writes 0 timeouts 0
2025-04-24 10:08:24 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36132/37172
2025-04-24 10:08:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8427, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:24 [info] currentZPosition:0.0165
2025-04-24 10:08:26 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:26 [debug] Diagnostics for board 50:
2025-04-24 10:08:26 [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 10:08:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.5%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:31 ago, cause: software
2025-04-24 10:08:26 [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 10:08:26 [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 10:08:26 [debug] Moves scheduled 1322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:26 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17646, writes 0 timeouts 0
2025-04-24 10:08:26 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36334/37174
2025-04-24 10:08:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:26 [info] currentZPosition:0.0171
2025-04-24 10:08:27 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:27 [debug] Diagnostics for board 50:
2025-04-24 10:08:27 [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 10:08:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:32 ago, cause: software
2025-04-24 10:08:27 [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 10:08:27 [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 10:08:27 [debug] Moves scheduled 1326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6944, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:27 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 18194, writes 0 timeouts 0
2025-04-24 10:08:27 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35804/37175
2025-04-24 10:08:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8405, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:27 [info] currentZPosition:0.0169
2025-04-24 10:08:29 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:29 [debug] Diagnostics for board 50:
2025-04-24 10:08:29 [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 10:08:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.4%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:33 ago, cause: software
2025-04-24 10:08:29 [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 10:08:29 [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 10:08:29 [debug] Moves scheduled 1330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 84, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:29 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17749, writes 0 timeouts 0
2025-04-24 10:08:29 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35908/37175
2025-04-24 10:08:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8443, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:29 [info] currentZPosition:0.0162
2025-04-24 10:08:30 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:30 [debug] Diagnostics for board 50:
2025-04-24 10:08:30 [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 10:08:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:35 ago, cause: software
2025-04-24 10:08:30 [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 10:08:30 [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 10:08:30 [debug] Moves scheduled 1334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:08:30 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 18282, writes 0 timeouts 0
2025-04-24 10:08:30 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36341/37170
2025-04-24 10:08:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:30 [info] currentZPosition:0.0171
2025-04-24 10:08:32 [debug] Stopped at height 0.015 mm
2025-04-24 10:08:32 [debug] Diagnostics for board 50:
2025-04-24 10:08:32 [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 10:08:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:36 ago, cause: software
2025-04-24 10:08:32 [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 10:08:32 [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 10:08:32 [debug] Moves scheduled 1338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=625, max=17045
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:32 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17859, writes 11 timeouts 1
2025-04-24 10:08:32 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36135/37180
2025-04-24 10:08:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8510, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:32 [info] currentZPosition:0.0148
2025-04-24 10:08:32 [debug] Stopped at height 0.015 mm
2025-04-24 10:08:33 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:33 [debug] Diagnostics for board 50:
2025-04-24 10:08:33 [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 10:08:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:38 ago, cause: software
2025-04-24 10:08:33 [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 10:08:33 [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 10:08:33 [debug] Moves scheduled 1344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:33 [debug] Driver 0: pos -3377, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 21999, writes 0 timeouts 0
2025-04-24 10:08:33 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35880/37176
2025-04-24 10:08:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:33 [info] currentZPosition:0.0174
2025-04-24 10:08:34 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:35 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:35 [debug] Diagnostics for board 50:
2025-04-24 10:08:35 [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 10:08:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:40 ago, cause: software
2025-04-24 10:08:35 [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 10:08:35 [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 10:08:35 [debug] Moves scheduled 1350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=18292
Sync err accum 89, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:35 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20570, writes 0 timeouts 0
2025-04-24 10:08:35 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35714/37174
2025-04-24 10:08:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8370, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:35 [info] currentZPosition:0.0178
2025-04-24 10:08:36 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:36 [debug] Diagnostics for board 50:
2025-04-24 10:08:36 [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 10:08:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:41 ago, cause: software
2025-04-24 10:08:36 [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 10:08:36 [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 10:08:36 [debug] Moves scheduled 1354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 98, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:08:36 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 19454, writes 0 timeouts 0
2025-04-24 10:08:36 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36085/37175
2025-04-24 10:08:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:37 [info] currentZPosition:0.0171
2025-04-24 10:08:38 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:38 [debug] Diagnostics for board 50:
2025-04-24 10:08:38 [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 10:08:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:43 ago, cause: software
2025-04-24 10:08:38 [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 10:08:38 [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 10:08:38 [debug] Moves scheduled 1358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:38 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16387, writes 0 timeouts 0
2025-04-24 10:08:38 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36377/37173
2025-04-24 10:08:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:38 [info] currentZPosition:0.0174
2025-04-24 10:08:39 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:39 [debug] Diagnostics for board 50:
2025-04-24 10:08:39 [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 10:08:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:44 ago, cause: software
2025-04-24 10:08:39 [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 10:08:39 [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 10:08:39 [debug] Moves scheduled 1362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 95, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:39 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19268, writes 0 timeouts 0
2025-04-24 10:08:39 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36056/37175
2025-04-24 10:08:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8388, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:39 [info] currentZPosition:0.0176
2025-04-24 10:08:41 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:41 [debug] Diagnostics for board 50:
2025-04-24 10:08:41 [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 10:08:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:45 ago, cause: software
2025-04-24 10:08:41 [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 10:08:41 [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 10:08:41 [debug] Moves scheduled 1366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294928729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:41 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16396, writes 0 timeouts 0
2025-04-24 10:08:41 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 35783/37178
2025-04-24 10:08:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:41 [info] currentZPosition:0.0179
2025-04-24 10:08:42 [debug] Stopped at height 0.019 mm
2025-04-24 10:08:42 [debug] Diagnostics for board 50:
2025-04-24 10:08:42 [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 10:08:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:47 ago, cause: software
2025-04-24 10:08:42 [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 10:08:42 [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 10:08:42 [debug] Moves scheduled 1370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:42 [debug] Driver 0: pos -3367, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 19025, writes 0 timeouts 0
2025-04-24 10:08:42 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35955/37173
2025-04-24 10:08:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:42 [info] currentZPosition:0.0187
2025-04-24 10:08:44 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:44 [debug] Diagnostics for board 50:
2025-04-24 10:08:44 [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 10:08:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:48 ago, cause: software
2025-04-24 10:08:44 [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 10:08:44 [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 10:08:44 [debug] Moves scheduled 1374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6944, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:44 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17138, writes 0 timeouts 0
2025-04-24 10:08:44 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35940/37177
2025-04-24 10:08:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8449, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:44 [info] currentZPosition:0.0165
2025-04-24 10:08:44 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:45 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:45 [debug] Diagnostics for board 50:
2025-04-24 10:08:45 [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 10:08:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:50 ago, cause: software
2025-04-24 10:08:45 [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 10:08:45 [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 10:08:45 [debug] Moves scheduled 1380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=17045
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 4294931181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:45 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 22779, writes 0 timeouts 0
2025-04-24 10:08:45 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 35858/37176
2025-04-24 10:08:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8376, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:45 [info] currentZPosition:0.0180
2025-04-24 10:08:46 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:47 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:47 [debug] Diagnostics for board 50:
2025-04-24 10:08:47 [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 10:08:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:52 ago, cause: software
2025-04-24 10:08:47 [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 10:08:47 [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 10:08:47 [debug] Moves scheduled 1386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17857
Sync err accum 92, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:47 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20262, writes 0 timeouts 0
2025-04-24 10:08:47 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36148/37169
2025-04-24 10:08:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8377, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:47 [info] currentZPosition:0.0181
2025-04-24 10:08:47 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:49 [debug] Stopped at height 0.015 mm
2025-04-24 10:08:49 [debug] Diagnostics for board 50:
2025-04-24 10:08:49 [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 10:08:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:54 ago, cause: software
2025-04-24 10:08:49 [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 10:08:49 [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 10:08:49 [debug] Moves scheduled 1392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:49 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 24168, writes 0 timeouts 0
2025-04-24 10:08:49 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35724/37173
2025-04-24 10:08:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8532, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:49 [info] currentZPosition:0.0150
2025-04-24 10:08:50 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:50 [debug] Diagnostics for board 50:
2025-04-24 10:08:50 [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 10:08:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:55 ago, cause: software
2025-04-24 10:08:50 [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 10:08:50 [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 10:08:50 [debug] Moves scheduled 1396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6000, max=18292
Sync err accum 112, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:50 [debug] Driver 0: pos -3377, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 15487, writes 0 timeouts 0
2025-04-24 10:08:50 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36314/37172
2025-04-24 10:08:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8384, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:50 [info] currentZPosition:0.0180
2025-04-24 10:08:51 [debug] Stopped at height 0.016 mm
2025-04-24 10:08:52 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:52 [debug] Diagnostics for board 50:
2025-04-24 10:08:52 [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 10:08:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:57 ago, cause: software
2025-04-24 10:08:52 [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 10:08:52 [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 10:08:52 [debug] Moves scheduled 1402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6097, max=17857
Sync err accum 114, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:08:52 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 23371, writes 0 timeouts 0
2025-04-24 10:08:52 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36368/37170
2025-04-24 10:08:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8419, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:52 [info] currentZPosition:0.0174
2025-04-24 10:08:52 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:54 [debug] Stopped at height 0.017 mm
2025-04-24 10:08:54 [debug] Diagnostics for board 50:
2025-04-24 10:08:54 [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 10:08:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:58 ago, cause: software
2025-04-24 10:08:54 [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 10:08:54 [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 10:08:54 [debug] Moves scheduled 1408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:54 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20322, writes 0 timeouts 0
2025-04-24 10:08:54 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35787/37175
2025-04-24 10:08:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8442, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:54 [info] currentZPosition:0.0171
2025-04-24 10:08:55 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:55 [debug] Diagnostics for board 50:
2025-04-24 10:08:55 [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 10:08:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:00 ago, cause: software
2025-04-24 10:08:55 [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 10:08:55 [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 10:08:55 [debug] Moves scheduled 1412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 101, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:08:55 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 18822, writes 0 timeouts 0
2025-04-24 10:08:55 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36260/37176
2025-04-24 10:08:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:55 [info] currentZPosition:0.0185
2025-04-24 10:08:56 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:57 [debug] Stopped at height 0.018 mm
2025-04-24 10:08:57 [debug] Diagnostics for board 50:
2025-04-24 10:08:57 [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 10:08:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:02 ago, cause: software
2025-04-24 10:08:57 [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 10:08:57 [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 10:08:57 [debug] Moves scheduled 1418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 90, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:57 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20437, writes 0 timeouts 0
2025-04-24 10:08:57 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35970/37179
2025-04-24 10:08:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8404, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:57 [info] currentZPosition:0.0179
2025-04-24 10:08:58 [debug] Stopped at height 0.019 mm
2025-04-24 10:08:58 [debug] Diagnostics for board 50:
2025-04-24 10:08:58 [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 10:08:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:03 ago, cause: software
2025-04-24 10:08:58 [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 10:08:58 [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 10:08:58 [debug] Moves scheduled 1422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter -3/-2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:08:58 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 19038, writes 0 timeouts 0
2025-04-24 10:08:58 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36123/37180
2025-04-24 10:08:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8371, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:08:58 [info] currentZPosition:0.0186
2025-04-24 10:09:00 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:00 [debug] Diagnostics for board 50:
2025-04-24 10:09:00 [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 10:09:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:04 ago, cause: software
2025-04-24 10:09:00 [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 10:09:00 [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 10:09:00 [debug] Moves scheduled 1426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6302, max=17045
Sync err accum 58, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:00 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16816, writes 0 timeouts 0
2025-04-24 10:09:00 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36142/37178
2025-04-24 10:09:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8435, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:00 [info] currentZPosition:0.0173
2025-04-24 10:09:00 [debug] Stopped at height 0.016 mm
2025-04-24 10:09:02 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:02 [debug] Diagnostics for board 50:
2025-04-24 10:09:02 [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 10:09:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:06 ago, cause: software
2025-04-24 10:09:02 [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 10:09:02 [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 10:09:02 [debug] Moves scheduled 1432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 80, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:02 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 23372, writes 0 timeouts 0
2025-04-24 10:09:02 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36030/37176
2025-04-24 10:09:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8458, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:02 [info] currentZPosition:0.0170
2025-04-24 10:09:03 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:03 [debug] Diagnostics for board 50:
2025-04-24 10:09:03 [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 10:09:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:08 ago, cause: software
2025-04-24 10:09:03 [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 10:09:03 [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 10:09:03 [debug] Moves scheduled 1436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6637, max=17045
Sync err accum 95, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294937016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:03 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16097, writes 0 timeouts 0
2025-04-24 10:09:03 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36349/37171
2025-04-24 10:09:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8406, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:03 [info] currentZPosition:0.0181
2025-04-24 10:09:04 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:04 [debug] Diagnostics for board 50:
2025-04-24 10:09:04 [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 10:09:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:09 ago, cause: software
2025-04-24 10:09:04 [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 10:09:04 [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 10:09:04 [debug] Moves scheduled 1440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 108, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:04 [debug] Driver 0: pos -3377, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 19116, writes 0 timeouts 0
2025-04-24 10:09:04 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35888/37170
2025-04-24 10:09:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8384, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:04 [info] currentZPosition:0.0186
2025-04-24 10:09:06 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:06 [debug] Diagnostics for board 50:
2025-04-24 10:09:06 [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 10:09:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:11 ago, cause: software
2025-04-24 10:09:06 [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 10:09:06 [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 10:09:06 [debug] Moves scheduled 1444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 115, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:06 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16821, writes 0 timeouts 0
2025-04-24 10:09:06 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35833/37170
2025-04-24 10:09:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8445, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:06 [info] currentZPosition:0.0174
2025-04-24 10:09:07 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:07 [debug] Diagnostics for board 50:
2025-04-24 10:09:07 [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 10:09:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:12 ago, cause: software
2025-04-24 10:09:07 [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 10:09:07 [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 10:09:07 [debug] Moves scheduled 1448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 120, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:07 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 18729, writes 0 timeouts 0
2025-04-24 10:09:07 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35785/37173
2025-04-24 10:09:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:07 [info] currentZPosition:0.0191
2025-04-24 10:09:08 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:09 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:09 [debug] Diagnostics for board 50:
2025-04-24 10:09:09 [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 10:09:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:14 ago, cause: software
2025-04-24 10:09:09 [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 10:09:09 [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 10:09:09 [debug] Moves scheduled 1454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 121, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:09 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20682, writes 0 timeouts 0
2025-04-24 10:09:09 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36013/37176
2025-04-24 10:09:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8414, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:09 [info] currentZPosition:0.0181
2025-04-24 10:09:10 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:10 [debug] Diagnostics for board 50:
2025-04-24 10:09:10 [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 10:09:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:15 ago, cause: software
2025-04-24 10:09:10 [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 10:09:10 [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 10:09:10 [debug] Moves scheduled 1458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 118, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:10 [debug] Driver 0: pos -3377, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 19049, writes 0 timeouts 0
2025-04-24 10:09:10 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36406/37176
2025-04-24 10:09:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8386, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:10 [info] currentZPosition:0.0187
2025-04-24 10:09:12 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:12 [debug] Diagnostics for board 50:
2025-04-24 10:09:12 [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 10:09:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:17 ago, cause: software
2025-04-24 10:09:12 [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 10:09:12 [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 10:09:12 [debug] Moves scheduled 1462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=515, max=17441
Sync err accum 112, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933486 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:12 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16896, writes 11 timeouts 1
2025-04-24 10:09:12 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36235/37170
2025-04-24 10:09:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8457, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:12 [info] currentZPosition:0.0173
2025-04-24 10:09:12 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:14 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:14 [debug] Diagnostics for board 50:
2025-04-24 10:09:14 [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 10:09:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:18 ago, cause: software
2025-04-24 10:09:14 [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 10:09:14 [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 10:09:14 [debug] Moves scheduled 1468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 94, peak jitter -2/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:14 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 22893, writes 0 timeouts 0
2025-04-24 10:09:14 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36285/37179
2025-04-24 10:09:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8425, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:14 [info] currentZPosition:0.0180
2025-04-24 10:09:15 [debug] Stopped at height 0.016 mm
2025-04-24 10:09:15 [debug] Diagnostics for board 50:
2025-04-24 10:09:15 [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 10:09:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:20 ago, cause: software
2025-04-24 10:09:15 [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 10:09:15 [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 10:09:15 [debug] Moves scheduled 1472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 80, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:15 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16984, writes 0 timeouts 0
2025-04-24 10:09:15 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35718/37179
2025-04-24 10:09:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8519, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:15 [info] currentZPosition:0.0162
2025-04-24 10:09:15 [debug] Stopped at height 0.016 mm
2025-04-24 10:09:17 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:17 [debug] Diagnostics for board 50:
2025-04-24 10:09:17 [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 10:09:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:22 ago, cause: software
2025-04-24 10:09:17 [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 10:09:17 [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 10:09:17 [debug] Moves scheduled 1478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 60, peak jitter -4/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:17 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 22501, writes 0 timeouts 0
2025-04-24 10:09:17 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36115/37180
2025-04-24 10:09:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8410, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:17 [info] currentZPosition:0.0184
2025-04-24 10:09:17 [debug] Stopped at height 0.021 mm
2025-04-24 10:09:17 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:18 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:19 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:19 [debug] Diagnostics for board 50:
2025-04-24 10:09:19 [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 10:09:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:24 ago, cause: software
2025-04-24 10:09:19 [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 10:09:19 [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 10:09:19 [debug] Moves scheduled 1488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:19 [debug] Driver 0: pos -3376, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 28535, writes 0 timeouts 0
2025-04-24 10:09:19 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 292, adv 35871/37177
2025-04-24 10:09:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:19 [info] currentZPosition:0.0192
2025-04-24 10:09:21 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:21 [debug] Diagnostics for board 50:
2025-04-24 10:09:21 [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 10:09:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:25 ago, cause: software
2025-04-24 10:09:21 [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 10:09:21 [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 10:09:21 [debug] Moves scheduled 1492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929268 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:21 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19334, writes 0 timeouts 0
2025-04-24 10:09:21 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36006/37172
2025-04-24 10:09:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8387, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:21 [info] currentZPosition:0.0190
2025-04-24 10:09:22 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:22 [debug] Diagnostics for board 50:
2025-04-24 10:09:22 [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 10:09:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:27 ago, cause: software
2025-04-24 10:09:22 [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 10:09:22 [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 10:09:22 [debug] Moves scheduled 1496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 91, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:22 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16873, writes 0 timeouts 0
2025-04-24 10:09:22 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36098/37173
2025-04-24 10:09:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8460, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:22 [info] currentZPosition:0.0176
2025-04-24 10:09:22 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:24 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:24 [debug] Diagnostics for board 50:
2025-04-24 10:09:24 [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 10:09:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:29 ago, cause: software
2025-04-24 10:09:24 [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 10:09:24 [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 10:09:24 [debug] Moves scheduled 1502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 90, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:24 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 22791, writes 0 timeouts 0
2025-04-24 10:09:24 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35893/37175
2025-04-24 10:09:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8419, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:24 [info] currentZPosition:0.0185
2025-04-24 10:09:25 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:25 [debug] Diagnostics for board 50:
2025-04-24 10:09:25 [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 10:09:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:30 ago, cause: software
2025-04-24 10:09:25 [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 10:09:25 [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 10:09:25 [debug] Moves scheduled 1506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6465, max=17857
Sync err accum 87, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:25 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16628, writes 0 timeouts 0
2025-04-24 10:09:25 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36318/37175
2025-04-24 10:09:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8449, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:25 [info] currentZPosition:0.0179
2025-04-24 10:09:27 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:27 [debug] Diagnostics for board 50:
2025-04-24 10:09:27 [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 10:09:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:31 ago, cause: software
2025-04-24 10:09:27 [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 10:09:27 [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 10:09:27 [debug] Moves scheduled 1510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 79, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:27 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 18945, writes 0 timeouts 0
2025-04-24 10:09:27 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 35784/37175
2025-04-24 10:09:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8395, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:27 [info] currentZPosition:0.0190
2025-04-24 10:09:28 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:28 [debug] Diagnostics for board 50:
2025-04-24 10:09:28 [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 10:09:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:33 ago, cause: software
2025-04-24 10:09:28 [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 10:09:28 [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 10:09:28 [debug] Moves scheduled 1514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 67, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:09:28 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16417, writes 0 timeouts 0
2025-04-24 10:09:28 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35713/37180
2025-04-24 10:09:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8393, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:28 [info] currentZPosition:0.0190
2025-04-24 10:09:29 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:29 [debug] Diagnostics for board 50:
2025-04-24 10:09:29 [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 10:09:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:34 ago, cause: software
2025-04-24 10:09:29 [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 10:09:29 [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 10:09:29 [debug] Moves scheduled 1518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6097, max=18292
Sync err accum 62, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:29 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 19561, writes 0 timeouts 0
2025-04-24 10:09:29 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35680/37179
2025-04-24 10:09:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8461, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:30 [info] currentZPosition:0.0177
2025-04-24 10:09:30 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:31 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:31 [debug] Diagnostics for board 50:
2025-04-24 10:09:31 [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 10:09:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:36 ago, cause: software
2025-04-24 10:09:31 [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 10:09:31 [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 10:09:31 [debug] Moves scheduled 1524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 79, peak jitter 1/4, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:31 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20276, writes 0 timeouts 0
2025-04-24 10:09:31 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35912/37176
2025-04-24 10:09:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8462, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:31 [info] currentZPosition:0.0178
2025-04-24 10:09:31 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:33 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:33 [debug] Diagnostics for board 50:
2025-04-24 10:09:33 [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 10:09:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:38 ago, cause: software
2025-04-24 10:09:33 [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 10:09:33 [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 10:09:33 [debug] Moves scheduled 1530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:33 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 22853, writes 0 timeouts 0
2025-04-24 10:09:33 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36331/37173
2025-04-24 10:09:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8427, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:33 [info] currentZPosition:0.0185
2025-04-24 10:09:33 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:35 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:35 [debug] Diagnostics for board 50:
2025-04-24 10:09:35 [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 10:09:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:39 ago, cause: software
2025-04-24 10:09:35 [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 10:09:35 [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 10:09:35 [debug] Moves scheduled 1536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=489, max=17045
Sync err accum 95, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:35 [debug] Driver 0: pos -3386, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20478, writes 11 timeouts 1
2025-04-24 10:09:35 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36106/37176
2025-04-24 10:09:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8428, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:35 [info] currentZPosition:0.0185
2025-04-24 10:09:36 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:36 [debug] Diagnostics for board 50:
2025-04-24 10:09:36 [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 10:09:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:41 ago, cause: software
2025-04-24 10:09:36 [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 10:09:36 [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 10:09:36 [debug] Moves scheduled 1540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 92, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:36 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 19228, writes 0 timeouts 0
2025-04-24 10:09:36 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36209/37173
2025-04-24 10:09:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8438, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:36 [info] currentZPosition:0.0184
2025-04-24 10:09:37 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:37 [debug] Diagnostics for board 50:
2025-04-24 10:09:37 [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 10:09:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:42 ago, cause: software
2025-04-24 10:09:37 [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 10:09:37 [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 10:09:37 [debug] Moves scheduled 1544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5769, max=17045
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 4294935154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:37 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16058, writes 0 timeouts 0
2025-04-24 10:09:37 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35883/37176
2025-04-24 10:09:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:37 [info] currentZPosition:0.0198
2025-04-24 10:09:38 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:39 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:39 [debug] Diagnostics for board 50:
2025-04-24 10:09:39 [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 10:09:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:44 ago, cause: software
2025-04-24 10:09:39 [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 10:09:39 [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 10:09:39 [debug] Moves scheduled 1550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:39 [debug] Driver 0: pos -3375, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 23062, writes 0 timeouts 0
2025-04-24 10:09:39 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37177
2025-04-24 10:09:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8375, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:39 [info] currentZPosition:0.0197
2025-04-24 10:09:40 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:41 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:41 [debug] Diagnostics for board 50:
2025-04-24 10:09:41 [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 10:09:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:46 ago, cause: software
2025-04-24 10:09:41 [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 10:09:41 [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 10:09:41 [debug] Moves scheduled 1556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6302, max=17045
Sync err accum 61, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:09:41 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 21207, writes 0 timeouts 0
2025-04-24 10:09:41 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36374/37175
2025-04-24 10:09:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8518, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:41 [info] currentZPosition:0.0170
2025-04-24 10:09:41 [debug] Stopped at height 0.015 mm
2025-04-24 10:09:43 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:43 [debug] Diagnostics for board 50:
2025-04-24 10:09:43 [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 10:09:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:48 ago, cause: software
2025-04-24 10:09:43 [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 10:09:43 [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 10:09:43 [debug] Moves scheduled 1562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6000, max=17045
Sync err accum 76, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:43 [debug] Driver 0: pos -3373, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 22381, writes 0 timeouts 0
2025-04-24 10:09:43 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35980/37175
2025-04-24 10:09:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8365, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:43 [info] currentZPosition:0.0201
2025-04-24 10:09:43 [debug] Stopped at height 0.022 mm
2025-04-24 10:09:43 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:44 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:45 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:45 [debug] Diagnostics for board 50:
2025-04-24 10:09:45 [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 10:09:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:50 ago, cause: software
2025-04-24 10:09:45 [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 10:09:45 [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 10:09:45 [debug] Moves scheduled 1572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 103, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:45 [debug] Driver 0: pos -3372, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 28410, writes 0 timeouts 0
2025-04-24 10:09:45 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 288, adv 35807/37173
2025-04-24 10:09:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:45 [info] currentZPosition:0.0205
2025-04-24 10:09:45 [debug] Stopped at height 0.017 mm
2025-04-24 10:09:46 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:47 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:47 [debug] Diagnostics for board 50:
2025-04-24 10:09:47 [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 10:09:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:52 ago, cause: software
2025-04-24 10:09:47 [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 10:09:47 [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 10:09:47 [debug] Moves scheduled 1580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 120, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:47 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 27785, writes 0 timeouts 0
2025-04-24 10:09:47 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 290, adv 35883/37171
2025-04-24 10:09:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8467, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:47 [info] currentZPosition:0.0186
2025-04-24 10:09:49 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:49 [debug] Diagnostics for board 50:
2025-04-24 10:09:49 [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 10:09:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:53 ago, cause: software
2025-04-24 10:09:49 [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 10:09:49 [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 10:09:49 [debug] Moves scheduled 1584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6696, max=17045
Sync err accum 126, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:49 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16232, writes 0 timeouts 0
2025-04-24 10:09:49 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35979/37174
2025-04-24 10:09:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8423, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:49 [info] currentZPosition:0.0194
2025-04-24 10:09:50 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:50 [debug] Diagnostics for board 50:
2025-04-24 10:09:50 [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 10:09:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:55 ago, cause: software
2025-04-24 10:09:50 [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 10:09:50 [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 10:09:50 [debug] Moves scheduled 1588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=18292
Sync err accum 121, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:09:50 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 18959, writes 0 timeouts 0
2025-04-24 10:09:50 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35760/37172
2025-04-24 10:09:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8390, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:50 [info] currentZPosition:0.0201
2025-04-24 10:09:51 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:51 [debug] Diagnostics for board 50:
2025-04-24 10:09:51 [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 10:09:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:56 ago, cause: software
2025-04-24 10:09:51 [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 10:09:51 [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 10:09:51 [debug] Moves scheduled 1592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 110, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:09:51 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17166, writes 0 timeouts 0
2025-04-24 10:09:51 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36157/37176
2025-04-24 10:09:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8482, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:51 [info] currentZPosition:0.0183
2025-04-24 10:09:52 [debug] Stopped at height 0.018 mm
2025-04-24 10:09:53 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:53 [debug] Diagnostics for board 50:
2025-04-24 10:09:53 [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 10:09:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:58 ago, cause: software
2025-04-24 10:09:53 [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 10:09:53 [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 10:09:53 [debug] Moves scheduled 1598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter -4/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:09:53 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 22522, writes 0 timeouts 0
2025-04-24 10:09:53 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36403/37178
2025-04-24 10:09:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:53 [info] currentZPosition:0.0200
2025-04-24 10:09:54 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:55 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:55 [debug] Diagnostics for board 50:
2025-04-24 10:09:55 [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 10:09:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:00 ago, cause: software
2025-04-24 10:09:55 [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 10:09:55 [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 10:09:55 [debug] Moves scheduled 1604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:09:55 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20666, writes 0 timeouts 0
2025-04-24 10:09:55 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36333/37174
2025-04-24 10:09:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8461, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:55 [info] currentZPosition:0.0191
2025-04-24 10:09:56 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:56 [debug] Diagnostics for board 50:
2025-04-24 10:09:56 [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 10:09:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:01 ago, cause: software
2025-04-24 10:09:56 [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 10:09:56 [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 10:09:56 [debug] Moves scheduled 1608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6521, max=17045
Sync err accum 59, peak jitter -3/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:09:56 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 18973, writes 0 timeouts 0
2025-04-24 10:09:56 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36304/37175
2025-04-24 10:09:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:56 [info] currentZPosition:0.0200
2025-04-24 10:09:58 [debug] Stopped at height 0.019 mm
2025-04-24 10:09:58 [debug] Diagnostics for board 50:
2025-04-24 10:09:58 [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 10:09:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:03 ago, cause: software
2025-04-24 10:09:58 [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 10:09:58 [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 10:09:58 [debug] Moves scheduled 1612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:58 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16845, writes 0 timeouts 0
2025-04-24 10:09:58 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35785/37174
2025-04-24 10:09:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8471, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:58 [info] currentZPosition:0.0189
2025-04-24 10:09:59 [debug] Stopped at height 0.020 mm
2025-04-24 10:09:59 [debug] Diagnostics for board 50:
2025-04-24 10:09:59 [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 10:09:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:04 ago, cause: software
2025-04-24 10:09:59 [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 10:09:59 [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 10:09:59 [debug] Moves scheduled 1616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 92, peak jitter 1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:09:59 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 18723, writes 0 timeouts 0
2025-04-24 10:09:59 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36171/37173
2025-04-24 10:09:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8393, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:09:59 [info] currentZPosition:0.0204
2025-04-24 10:10:00 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:01 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:01 [debug] Diagnostics for board 50:
2025-04-24 10:10:01 [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 10:10:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:06 ago, cause: software
2025-04-24 10:10:01 [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 10:10:01 [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 10:10:01 [debug] Moves scheduled 1622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:01 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20545, writes 0 timeouts 0
2025-04-24 10:10:01 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35931/37176
2025-04-24 10:10:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:01 [info] currentZPosition:0.0201
2025-04-24 10:10:02 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:02 [debug] Diagnostics for board 50:
2025-04-24 10:10:02 [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 10:10:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:07 ago, cause: software
2025-04-24 10:10:02 [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 10:10:02 [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 10:10:02 [debug] Moves scheduled 1626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 104, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:02 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19004, writes 0 timeouts 0
2025-04-24 10:10:02 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36083/37173
2025-04-24 10:10:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8392, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:02 [info] currentZPosition:0.0206
2025-04-24 10:10:04 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:04 [debug] Diagnostics for board 50:
2025-04-24 10:10:04 [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 10:10:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:09 ago, cause: software
2025-04-24 10:10:04 [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 10:10:04 [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 10:10:04 [debug] Moves scheduled 1630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
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 4294935607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:04 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16484, writes 0 timeouts 0
2025-04-24 10:10:04 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36132/37175
2025-04-24 10:10:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:04 [info] currentZPosition:0.0205
2025-04-24 10:10:05 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:05 [debug] Diagnostics for board 50:
2025-04-24 10:10:05 [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 10:10:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:10 ago, cause: software
2025-04-24 10:10:05 [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 10:10:05 [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 10:10:05 [debug] Moves scheduled 1634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 99, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:05 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 19557, writes 0 timeouts 0
2025-04-24 10:10:05 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35945/37175
2025-04-24 10:10:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8455, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:05 [info] currentZPosition:0.0193
2025-04-24 10:10:07 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:07 [debug] Diagnostics for board 50:
2025-04-24 10:10:07 [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 10:10:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:11 ago, cause: software
2025-04-24 10:10:07 [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 10:10:07 [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 10:10:07 [debug] Moves scheduled 1638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 91, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:07 [debug] Driver 0: pos -3371, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 15967, writes 0 timeouts 0
2025-04-24 10:10:07 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36287/37176
2025-04-24 10:10:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 789
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:07 [info] currentZPosition:0.0213
2025-04-24 10:10:07 [debug] Stopped at height 0.018 mm
2025-04-24 10:10:08 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:08 [debug] Diagnostics for board 50:
2025-04-24 10:10:08 [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 10:10:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:13 ago, cause: software
2025-04-24 10:10:08 [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 10:10:08 [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 10:10:08 [debug] Moves scheduled 1644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:08 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 23418, writes 0 timeouts 0
2025-04-24 10:10:08 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35861/37176
2025-04-24 10:10:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8424, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:09 [info] currentZPosition:0.0200
2025-04-24 10:10:09 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:10 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:10 [debug] Diagnostics for board 50:
2025-04-24 10:10:10 [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 10:10:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:15 ago, cause: software
2025-04-24 10:10:10 [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 10:10:10 [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 10:10:10 [debug] Moves scheduled 1650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6521, max=17045
Sync err accum 59, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:10 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20333, writes 0 timeouts 0
2025-04-24 10:10:10 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35708/37179
2025-04-24 10:10:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8417, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:10 [info] currentZPosition:0.0202
2025-04-24 10:10:12 [debug] Stopped at height 0.017 mm
2025-04-24 10:10:12 [debug] Diagnostics for board 50:
2025-04-24 10:10:12 [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 10:10:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:16 ago, cause: software
2025-04-24 10:10:12 [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 10:10:12 [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 10:10:12 [debug] Moves scheduled 1654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 73, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:12 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20201, writes 0 timeouts 0
2025-04-24 10:10:12 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35728/37173
2025-04-24 10:10:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:12 [info] currentZPosition:0.0172
2025-04-24 10:10:12 [debug] Stopped at height 0.017 mm
2025-04-24 10:10:13 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:13 [debug] Diagnostics for board 50:
2025-04-24 10:10:13 [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 10:10:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:18 ago, cause: software
2025-04-24 10:10:13 [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 10:10:13 [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 10:10:13 [debug] Moves scheduled 1660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=106, frequency (Hz): min=6147, max=17045
Sync err accum 91, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:13 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 19289, writes 0 timeouts 0
2025-04-24 10:10:13 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35892/37173
2025-04-24 10:10:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:13 [info] currentZPosition:0.0207
2025-04-24 10:10:14 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:14 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:15 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:15 [debug] Diagnostics for board 50:
2025-04-24 10:10:15 [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 10:10:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:20 ago, cause: software
2025-04-24 10:10:15 [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 10:10:15 [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 10:10:15 [debug] Moves scheduled 1668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6302, max=17045
Sync err accum 105, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:15 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 27156, writes 0 timeouts 0
2025-04-24 10:10:15 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 287, adv 36373/37175
2025-04-24 10:10:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8418, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:15 [info] currentZPosition:0.0205
2025-04-24 10:10:16 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:17 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:17 [debug] Diagnostics for board 50:
2025-04-24 10:10:17 [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 10:10:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:22 ago, cause: software
2025-04-24 10:10:17 [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 10:10:17 [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 10:10:17 [debug] Moves scheduled 1674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 111, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:17 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20635, writes 0 timeouts 0
2025-04-24 10:10:17 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36066/37175
2025-04-24 10:10:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8461, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:17 [info] currentZPosition:0.0198
2025-04-24 10:10:19 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:19 [debug] Diagnostics for board 50:
2025-04-24 10:10:19 [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 10:10:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:23 ago, cause: software
2025-04-24 10:10:19 [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 10:10:19 [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 10:10:19 [debug] Moves scheduled 1678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:19 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 19115, writes 0 timeouts 0
2025-04-24 10:10:19 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36276/37175
2025-04-24 10:10:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8467, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:19 [info] currentZPosition:0.0197
2025-04-24 10:10:20 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:20 [debug] Diagnostics for board 50:
2025-04-24 10:10:20 [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 10:10:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:25 ago, cause: software
2025-04-24 10:10:20 [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 10:10:20 [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 10:10:20 [debug] Moves scheduled 1682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 110, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:20 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16240, writes 0 timeouts 0
2025-04-24 10:10:20 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36242/37176
2025-04-24 10:10:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8421, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:20 [info] currentZPosition:0.0207
2025-04-24 10:10:21 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:21 [debug] Diagnostics for board 50:
2025-04-24 10:10:21 [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 10:10:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:26 ago, cause: software
2025-04-24 10:10:21 [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 10:10:21 [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 10:10:21 [debug] Moves scheduled 1686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 104, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:10:21 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 19002, writes 0 timeouts 0
2025-04-24 10:10:21 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36160/37179
2025-04-24 10:10:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:21 [info] currentZPosition:0.0213
2025-04-24 10:10:23 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:23 [debug] Diagnostics for board 50:
2025-04-24 10:10:23 [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 10:10:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:28 ago, cause: software
2025-04-24 10:10:23 [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 10:10:23 [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 10:10:23 [debug] Moves scheduled 1690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6944, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:10:23 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17214, writes 0 timeouts 0
2025-04-24 10:10:23 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35685/37179
2025-04-24 10:10:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8515, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:23 [info] currentZPosition:0.0189
2025-04-24 10:10:23 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:25 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:25 [debug] Diagnostics for board 50:
2025-04-24 10:10:25 [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 10:10:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:29 ago, cause: software
2025-04-24 10:10:25 [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 10:10:25 [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 10:10:25 [debug] Moves scheduled 1696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 76, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:25 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 22731, writes 0 timeouts 0
2025-04-24 10:10:25 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36058/37178
2025-04-24 10:10:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8461, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:25 [info] currentZPosition:0.0201
2025-04-24 10:10:26 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:26 [debug] Diagnostics for board 50:
2025-04-24 10:10:26 [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 10:10:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:31 ago, cause: software
2025-04-24 10:10:26 [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 10:10:26 [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 10:10:26 [debug] Moves scheduled 1700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6521, max=17045
Sync err accum 61, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:26 [debug] Driver 0: pos -3378, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16114, writes 0 timeouts 0
2025-04-24 10:10:26 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35856/37175
2025-04-24 10:10:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8388, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:26 [info] currentZPosition:0.0215
2025-04-24 10:10:26 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:28 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:28 [debug] Diagnostics for board 50:
2025-04-24 10:10:28 [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 10:10:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:33 ago, cause: software
2025-04-24 10:10:28 [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 10:10:28 [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 10:10:28 [debug] Moves scheduled 1706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17857
Sync err accum 72, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935347 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:28 [debug] Driver 0: pos -3386, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 23218, writes 0 timeouts 0
2025-04-24 10:10:28 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35955/37173
2025-04-24 10:10:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8432, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:28 [info] currentZPosition:0.0208
2025-04-24 10:10:29 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:29 [debug] Diagnostics for board 50:
2025-04-24 10:10:29 [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 10:10:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:34 ago, cause: software
2025-04-24 10:10:29 [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 10:10:29 [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 10:10:29 [debug] Moves scheduled 1710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:29 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16460, writes 0 timeouts 0
2025-04-24 10:10:29 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36029/37175
2025-04-24 10:10:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8420, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:29 [info] currentZPosition:0.0210
2025-04-24 10:10:31 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:31 [debug] Diagnostics for board 50:
2025-04-24 10:10:31 [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 10:10:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:12:35 ago, cause: software
2025-04-24 10:10:31 [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 10:10:31 [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 10:10:31 [debug] Moves scheduled 1714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=6355, max=17857
Sync err accum 86, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:31 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 19087, writes 0 timeouts 0
2025-04-24 10:10:31 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35829/37171
2025-04-24 10:10:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8403, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:31 [info] currentZPosition:0.0213
2025-04-24 10:10:32 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:32 [debug] Diagnostics for board 50:
2025-04-24 10:10:32 [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 10:10:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:37 ago, cause: software
2025-04-24 10:10:32 [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 10:10:32 [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 10:10:32 [debug] Moves scheduled 1718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:32 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16883, writes 0 timeouts 0
2025-04-24 10:10:32 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36172/37171
2025-04-24 10:10:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8464, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:32 [info] currentZPosition:0.0202
2025-04-24 10:10:33 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:33 [debug] Diagnostics for board 50:
2025-04-24 10:10:33 [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 10:10:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:38 ago, cause: software
2025-04-24 10:10:33 [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 10:10:33 [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 10:10:33 [debug] Moves scheduled 1722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17857
Sync err accum 83, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:33 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 18815, writes 0 timeouts 0
2025-04-24 10:10:33 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 35731/37173
2025-04-24 10:10:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8395, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:34 [info] currentZPosition:0.0215
2025-04-24 10:10:34 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:35 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:35 [debug] Diagnostics for board 50:
2025-04-24 10:10:35 [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 10:10:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:40 ago, cause: software
2025-04-24 10:10:35 [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 10:10:35 [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 10:10:35 [debug] Moves scheduled 1728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=145, frequency (Hz): min=5769, max=17045
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932906 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:35 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20690, writes 0 timeouts 0
2025-04-24 10:10:35 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36342/37179
2025-04-24 10:10:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8435, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:35 [info] currentZPosition:0.0208
2025-04-24 10:10:37 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:37 [debug] Diagnostics for board 50:
2025-04-24 10:10:37 [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 10:10:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:41 ago, cause: software
2025-04-24 10:10:37 [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 10:10:37 [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 10:10:37 [debug] Moves scheduled 1732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
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 4294933051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:37 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 19176, writes 0 timeouts 0
2025-04-24 10:10:37 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36370/37177
2025-04-24 10:10:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8448, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:37 [info] currentZPosition:0.0206
2025-04-24 10:10:38 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:38 [debug] Diagnostics for board 50:
2025-04-24 10:10:38 [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 10:10:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:43 ago, cause: software
2025-04-24 10:10:38 [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 10:10:38 [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 10:10:38 [debug] Moves scheduled 1736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 75, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:38 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16291, writes 0 timeouts 0
2025-04-24 10:10:38 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36285/37174
2025-04-24 10:10:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:38 [info] currentZPosition:0.0213
2025-04-24 10:10:40 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:40 [debug] Diagnostics for board 50:
2025-04-24 10:10:40 [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 10:10:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:44 ago, cause: software
2025-04-24 10:10:40 [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 10:10:40 [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 10:10:40 [debug] Moves scheduled 1740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 85, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:40 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 19380, writes 0 timeouts 0
2025-04-24 10:10:40 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36255/37171
2025-04-24 10:10:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8454, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:40 [info] currentZPosition:0.0204
2025-04-24 10:10:41 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:41 [debug] Diagnostics for board 50:
2025-04-24 10:10:41 [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 10:10:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:46 ago, cause: software
2025-04-24 10:10:41 [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 10:10:41 [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 10:10:41 [debug] Moves scheduled 1744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294932987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7
2025-04-24 10:10:41 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16597, writes 0 timeouts 0
2025-04-24 10:10:41 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36205/37173
2025-04-24 10:10:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8474, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:41 [info] currentZPosition:0.0200
2025-04-24 10:10:42 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:42 [debug] Diagnostics for board 50:
2025-04-24 10:10:42 [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 10:10:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:47 ago, cause: software
2025-04-24 10:10:42 [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 10:10:42 [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 10:10:42 [debug] Moves scheduled 1748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:42 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 18972, writes 0 timeouts 0
2025-04-24 10:10:42 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36157/37176
2025-04-24 10:10:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8453, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:42 [info] currentZPosition:0.0205
2025-04-24 10:10:44 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:44 [debug] Diagnostics for board 50:
2025-04-24 10:10:44 [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 10:10:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:48 ago, cause: software
2025-04-24 10:10:44 [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 10:10:44 [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 10:10:44 [debug] Moves scheduled 1752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:44 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16360, writes 0 timeouts 0
2025-04-24 10:10:44 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35684/37171
2025-04-24 10:10:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8436, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:44 [info] currentZPosition:0.0208
2025-04-24 10:10:45 [debug] Stopped at height 0.022 mm
2025-04-24 10:10:45 [debug] Diagnostics for board 50:
2025-04-24 10:10:45 [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 10:10:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:50 ago, cause: software
2025-04-24 10:10:45 [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 10:10:45 [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 10:10:45 [debug] Moves scheduled 1756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:45 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 18837, writes 0 timeouts 0
2025-04-24 10:10:45 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36051/37176
2025-04-24 10:10:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:45 [info] currentZPosition:0.0216
2025-04-24 10:10:47 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:47 [debug] Diagnostics for board 50:
2025-04-24 10:10:47 [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 10:10:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:51 ago, cause: software
2025-04-24 10:10:47 [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 10:10:47 [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 10:10:47 [debug] Moves scheduled 1760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=511, max=17045
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:47 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16855, writes 11 timeouts 1
2025-04-24 10:10:47 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35821/37176
2025-04-24 10:10:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8466, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:47 [info] currentZPosition:0.0202
2025-04-24 10:10:47 [debug] Stopped at height 0.019 mm
2025-04-24 10:10:48 [debug] Stopped at height 0.022 mm
2025-04-24 10:10:48 [debug] Diagnostics for board 50:
2025-04-24 10:10:48 [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 10:10:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:53 ago, cause: software
2025-04-24 10:10:48 [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 10:10:48 [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 10:10:48 [debug] Moves scheduled 1766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 60, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:10:48 [debug] Driver 0: pos -3380, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 22688, writes 0 timeouts 0
2025-04-24 10:10:48 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35937/37178
2025-04-24 10:10:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:48 [info] currentZPosition:0.0216
2025-04-24 10:10:49 [debug] Stopped at height 0.022 mm
2025-04-24 10:10:50 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:50 [debug] Diagnostics for board 50:
2025-04-24 10:10:50 [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 10:10:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:12:55 ago, cause: software
2025-04-24 10:10:50 [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 10:10:50 [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 10:10:50 [debug] Moves scheduled 1772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 76, peak jitter 0/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:50 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20331, writes 0 timeouts 0
2025-04-24 10:10:50 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35989/37175
2025-04-24 10:10:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8427, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:50 [info] currentZPosition:0.0212
2025-04-24 10:10:52 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:52 [debug] Diagnostics for board 50:
2025-04-24 10:10:52 [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 10:10:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:56 ago, cause: software
2025-04-24 10:10:52 [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 10:10:52 [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 10:10:52 [debug] Moves scheduled 1776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=97, frequency (Hz): min=6097, max=17045
Sync err accum 89, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:10:52 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 19590, writes 0 timeouts 0
2025-04-24 10:10:52 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35831/37174
2025-04-24 10:10:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8494, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:52 [info] currentZPosition:0.0198
2025-04-24 10:10:52 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:53 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:53 [debug] Diagnostics for board 50:
2025-04-24 10:10:53 [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 10:10:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:58 ago, cause: software
2025-04-24 10:10:53 [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 10:10:53 [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 10:10:53 [debug] Moves scheduled 1782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 98, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:53 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20165, writes 0 timeouts 0
2025-04-24 10:10:53 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36170/37175
2025-04-24 10:10:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8460, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:53 [info] currentZPosition:0.0206
2025-04-24 10:10:55 [debug] Stopped at height 0.020 mm
2025-04-24 10:10:55 [debug] Diagnostics for board 50:
2025-04-24 10:10:55 [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 10:10:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:12:59 ago, cause: software
2025-04-24 10:10:55 [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 10:10:55 [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 10:10:55 [debug] Moves scheduled 1786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:55 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 19292, writes 0 timeouts 0
2025-04-24 10:10:55 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35735/37175
2025-04-24 10:10:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:55 [info] currentZPosition:0.0200
2025-04-24 10:10:56 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:56 [debug] Diagnostics for board 50:
2025-04-24 10:10:56 [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 10:10:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:01 ago, cause: software
2025-04-24 10:10:56 [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 10:10:56 [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 10:10:56 [debug] Moves scheduled 1790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 103, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:10:56 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16180, writes 0 timeouts 0
2025-04-24 10:10:56 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36354/37175
2025-04-24 10:10:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8444, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:56 [info] currentZPosition:0.0209
2025-04-24 10:10:58 [debug] Stopped at height 0.021 mm
2025-04-24 10:10:58 [debug] Diagnostics for board 50:
2025-04-24 10:10:58 [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 10:10:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:02 ago, cause: software
2025-04-24 10:10:58 [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 10:10:58 [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 10:10:58 [debug] Moves scheduled 1794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 102, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:10:58 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 19081, writes 0 timeouts 0
2025-04-24 10:10:58 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36377/37176
2025-04-24 10:10:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8440, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:58 [info] currentZPosition:0.0210
2025-04-24 10:10:59 [debug] Stopped at height 0.022 mm
2025-04-24 10:10:59 [debug] Diagnostics for board 50:
2025-04-24 10:10:59 [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 10:10:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:04 ago, cause: software
2025-04-24 10:10:59 [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 10:10:59 [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 10:10:59 [debug] Moves scheduled 1798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 97, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:10:59 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16304, writes 0 timeouts 0
2025-04-24 10:10:59 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35797/37177
2025-04-24 10:10:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8408, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:10:59 [info] currentZPosition:0.0217
2025-04-24 10:11:00 [debug] Stopped at height 0.019 mm
2025-04-24 10:11:00 [debug] Diagnostics for board 50:
2025-04-24 10:11:00 [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 10:11:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:05 ago, cause: software
2025-04-24 10:11:00 [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 10:11:00 [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 10:11:00 [debug] Moves scheduled 1802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930421 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:00 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 19992, writes 0 timeouts 0
2025-04-24 10:11:00 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36280/37176
2025-04-24 10:11:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8541, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:00 [info] currentZPosition:0.0190
2025-04-24 10:11:01 [debug] Stopped at height 0.018 mm
2025-04-24 10:11:02 [debug] Stopped at height 0.019 mm
2025-04-24 10:11:02 [debug] Diagnostics for board 50:
2025-04-24 10:11:02 [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 10:11:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:07 ago, cause: software
2025-04-24 10:11:02 [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 10:11:02 [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 10:11:02 [debug] Moves scheduled 1808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 71, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:02 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20369, writes 0 timeouts 0
2025-04-24 10:11:02 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35993/37179
2025-04-24 10:11:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8528, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:02 [info] currentZPosition:0.0194
2025-04-24 10:11:04 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:04 [debug] Diagnostics for board 50:
2025-04-24 10:11:04 [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 10:11:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,130) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:08 ago, cause: software
2025-04-24 10:11:04 [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 10:11:04 [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 10:11:04 [debug] Moves scheduled 1812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 59, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:04 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 18935, writes 0 timeouts 0
2025-04-24 10:11:04 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37175
2025-04-24 10:11:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8493, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:04 [info] currentZPosition:0.0201
2025-04-24 10:11:05 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:05 [debug] Diagnostics for board 50:
2025-04-24 10:11:05 [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 10:11:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:10 ago, cause: software
2025-04-24 10:11:05 [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 10:11:05 [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 10:11:05 [debug] Moves scheduled 1816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 71, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:05 [debug] Driver 0: pos -3374, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 15743, writes 0 timeouts 0
2025-04-24 10:11:05 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36153/37175
2025-04-24 10:11:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:05 [info] currentZPosition:0.0225
2025-04-24 10:11:05 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:07 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:07 [debug] Diagnostics for board 50:
2025-04-24 10:11:07 [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 10:11:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:11 ago, cause: software
2025-04-24 10:11:07 [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 10:11:07 [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 10:11:07 [debug] Moves scheduled 1822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=5681, max=18292
Sync err accum 83, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:07 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 23315, writes 0 timeouts 0
2025-04-24 10:11:07 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36055/37172
2025-04-24 10:11:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8438, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:07 [info] currentZPosition:0.0212
2025-04-24 10:11:08 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:08 [debug] Diagnostics for board 50:
2025-04-24 10:11:08 [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 10:11:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:13 ago, cause: software
2025-04-24 10:11:08 [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 10:11:08 [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 10:11:08 [debug] Moves scheduled 1826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 89, peak jitter 1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:08 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16693, writes 0 timeouts 0
2025-04-24 10:11:08 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36295/37178
2025-04-24 10:11:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8477, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:08 [info] currentZPosition:0.0205
2025-04-24 10:11:10 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:10 [debug] Diagnostics for board 50:
2025-04-24 10:11:10 [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 10:11:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:14 ago, cause: software
2025-04-24 10:11:10 [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 10:11:10 [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 10:11:10 [debug] Moves scheduled 1830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=5725, max=17045
Sync err accum 91, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:10 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 19790, writes 0 timeouts 0
2025-04-24 10:11:10 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 286, adv 35958/37175
2025-04-24 10:11:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8470, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:10 [info] currentZPosition:0.0206
2025-04-24 10:11:11 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:11 [debug] Diagnostics for board 50:
2025-04-24 10:11:11 [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 10:11:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:16 ago, cause: software
2025-04-24 10:11:11 [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 10:11:11 [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 10:11:11 [debug] Moves scheduled 1834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5859, max=18292
Sync err accum 92, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:11 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16454, writes 0 timeouts 0
2025-04-24 10:11:11 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35746/37176
2025-04-24 10:11:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8470, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:11 [info] currentZPosition:0.0206
2025-04-24 10:11:12 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:12 [debug] Diagnostics for board 50:
2025-04-24 10:11:12 [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 10:11:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:17 ago, cause: software
2025-04-24 10:11:12 [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 10:11:12 [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 10:11:12 [debug] Moves scheduled 1838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6000, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:12 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 18972, writes 0 timeouts 0
2025-04-24 10:11:12 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35840/37176
2025-04-24 10:11:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8455, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:13 [info] currentZPosition:0.0210
2025-04-24 10:11:14 [debug] Stopped at height 0.019 mm
2025-04-24 10:11:14 [debug] Diagnostics for board 50:
2025-04-24 10:11:14 [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 10:11:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:19 ago, cause: software
2025-04-24 10:11:14 [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 10:11:14 [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 10:11:14 [debug] Moves scheduled 1842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
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 4294931922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:14 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16983, writes 0 timeouts 0
2025-04-24 10:11:14 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35928/37179
2025-04-24 10:11:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8539, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:14 [info] currentZPosition:0.0193
2025-04-24 10:11:14 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:16 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:16 [debug] Diagnostics for board 50:
2025-04-24 10:11:16 [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 10:11:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:20 ago, cause: software
2025-04-24 10:11:16 [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 10:11:16 [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 10:11:16 [debug] Moves scheduled 1848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:16 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 22547, writes 0 timeouts 0
2025-04-24 10:11:16 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35760/37177
2025-04-24 10:11:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8473, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:16 [info] currentZPosition:0.0206
2025-04-24 10:11:17 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:17 [debug] Diagnostics for board 50:
2025-04-24 10:11:17 [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 10:11:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:22 ago, cause: software
2025-04-24 10:11:17 [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 10:11:17 [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 10:11:17 [debug] Moves scheduled 1852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6147, max=18292
Sync err accum 67, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:17 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16170, writes 0 timeouts 0
2025-04-24 10:11:17 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36056/37172
2025-04-24 10:11:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8428, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:17 [info] currentZPosition:0.0216
2025-04-24 10:11:18 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:18 [debug] Diagnostics for board 50:
2025-04-24 10:11:18 [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 10:11:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:23 ago, cause: software
2025-04-24 10:11:18 [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 10:11:18 [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 10:11:18 [debug] Moves scheduled 1856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:18 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 19390, writes 0 timeouts 0
2025-04-24 10:11:18 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 292, adv 36397/37173
2025-04-24 10:11:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8467, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:19 [info] currentZPosition:0.0207
2025-04-24 10:11:20 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:20 [debug] Diagnostics for board 50:
2025-04-24 10:11:20 [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 10:11:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:25 ago, cause: software
2025-04-24 10:11:20 [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 10:11:20 [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 10:11:20 [debug] Moves scheduled 1860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5769, max=17857
Sync err accum 81, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:20 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16722, writes 0 timeouts 0
2025-04-24 10:11:20 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36264/37174
2025-04-24 10:11:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8501, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:20 [info] currentZPosition:0.0202
2025-04-24 10:11:21 [debug] Stopped at height 0.019 mm
2025-04-24 10:11:21 [debug] Diagnostics for board 50:
2025-04-24 10:11:21 [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 10:11:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:26 ago, cause: software
2025-04-24 10:11:21 [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 10:11:21 [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 10:11:21 [debug] Moves scheduled 1864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 82, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294937057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:21 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 19291, writes 0 timeouts 0
2025-04-24 10:11:21 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36302/37172
2025-04-24 10:11:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8546, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:21 [info] currentZPosition:0.0195
2025-04-24 10:11:23 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:23 [debug] Diagnostics for board 50:
2025-04-24 10:11:23 [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 10:11:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:27 ago, cause: software
2025-04-24 10:11:23 [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 10:11:23 [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 10:11:23 [debug] Moves scheduled 1868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:23 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 15887, writes 0 timeouts 0
2025-04-24 10:11:23 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35703/37173
2025-04-24 10:11:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8439, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:23 [info] currentZPosition:0.0215
2025-04-24 10:11:23 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:24 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:24 [debug] Diagnostics for board 50:
2025-04-24 10:11:24 [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 10:11:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:29 ago, cause: software
2025-04-24 10:11:24 [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 10:11:24 [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 10:11:24 [debug] Moves scheduled 1874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:24 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 23128, writes 0 timeouts 0
2025-04-24 10:11:24 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36212/37174
2025-04-24 10:11:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8478, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:25 [info] currentZPosition:0.0209
2025-04-24 10:11:26 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:26 [debug] Diagnostics for board 50:
2025-04-24 10:11:26 [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 10:11:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:31 ago, cause: software
2025-04-24 10:11:26 [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 10:11:26 [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 10:11:26 [debug] Moves scheduled 1878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:26 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16448, writes 0 timeouts 0
2025-04-24 10:11:26 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35856/37177
2025-04-24 10:11:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8466, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:26 [info] currentZPosition:0.0211
2025-04-24 10:11:27 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:27 [debug] Diagnostics for board 50:
2025-04-24 10:11:27 [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 10:11:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:32 ago, cause: software
2025-04-24 10:11:27 [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 10:11:27 [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 10:11:27 [debug] Moves scheduled 1882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17441
Sync err accum 70, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:27 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 18993, writes 0 timeouts 0
2025-04-24 10:11:27 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 284, adv 36107/37177
2025-04-24 10:11:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8451, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:27 [info] currentZPosition:0.0214
2025-04-24 10:11:29 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:29 [debug] Diagnostics for board 50:
2025-04-24 10:11:29 [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 10:11:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:33 ago, cause: software
2025-04-24 10:11:29 [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 10:11:29 [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 10:11:29 [debug] Moves scheduled 1886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6147, max=17857
Sync err accum 73, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:29 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16797, writes 0 timeouts 0
2025-04-24 10:11:29 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36038/37177
2025-04-24 10:11:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8502, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:29 [info] currentZPosition:0.0204
2025-04-24 10:11:30 [debug] Stopped at height 0.019 mm
2025-04-24 10:11:30 [debug] Diagnostics for board 50:
2025-04-24 10:11:30 [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 10:11:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:35 ago, cause: software
2025-04-24 10:11:30 [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 10:11:30 [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 10:11:30 [debug] Moves scheduled 1890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5769, max=17045
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294928644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:30 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19654, writes 0 timeouts 0
2025-04-24 10:11:30 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35963/37172
2025-04-24 10:11:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8597, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:30 [info] currentZPosition:0.0186
2025-04-24 10:11:31 [debug] Stopped at height 0.018 mm
2025-04-24 10:11:32 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:32 [debug] Diagnostics for board 50:
2025-04-24 10:11:32 [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 10:11:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:37 ago, cause: software
2025-04-24 10:11:32 [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 10:11:32 [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 10:11:32 [debug] Moves scheduled 1896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:32 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 19642, writes 0 timeouts 0
2025-04-24 10:11:32 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36169/37171
2025-04-24 10:11:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8476, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:32 [info] currentZPosition:0.0210
2025-04-24 10:11:32 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:34 [debug] Stopped at height 0.024 mm
2025-04-24 10:11:34 [debug] Diagnostics for board 50:
2025-04-24 10:11:34 [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 10:11:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:38 ago, cause: software
2025-04-24 10:11:34 [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 10:11:34 [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 10:11:34 [debug] Moves scheduled 1902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 64, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:34 [debug] Driver 0: pos -3368, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 22075, writes 0 timeouts 0
2025-04-24 10:11:34 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35886/37176
2025-04-24 10:11:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 791
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 790
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:34 [info] currentZPosition:0.0238
2025-04-24 10:11:34 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:34 [debug] Stopped at height 0.023 mm
2025-04-24 10:11:35 [debug] Stopped at height 0.020 mm
2025-04-24 10:11:36 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:36 [debug] Diagnostics for board 50:
2025-04-24 10:11:36 [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 10:11:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:41 ago, cause: software
2025-04-24 10:11:36 [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 10:11:36 [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 10:11:36 [debug] Moves scheduled 1912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=755, max=18292
Sync err accum 78, peak jitter -2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:36 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 29555, writes 11 timeouts 1
2025-04-24 10:11:36 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, send timeouts 0, received 34, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35732/37177
2025-04-24 10:11:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8511, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:36 [info] currentZPosition:0.0207
2025-04-24 10:11:37 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:37 [debug] Diagnostics for board 50:
2025-04-24 10:11:37 [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 10:11:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:42 ago, cause: software
2025-04-24 10:11:37 [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 10:11:37 [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 10:11:37 [debug] Moves scheduled 1916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 86, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:37 [debug] Driver 0: pos -3386, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 18562, writes 0 timeouts 0
2025-04-24 10:11:37 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35778/37174
2025-04-24 10:11:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8427, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:37 [info] currentZPosition:0.0223
2025-04-24 10:11:38 [debug] Stopped at height 0.023 mm
2025-04-24 10:11:39 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:39 [debug] Diagnostics for board 50:
2025-04-24 10:11:39 [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 10:11:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:44 ago, cause: software
2025-04-24 10:11:39 [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 10:11:39 [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 10:11:39 [debug] Moves scheduled 1922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6465, max=18292
Sync err accum 93, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:39 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20594, writes 0 timeouts 0
2025-04-24 10:11:39 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36073/37173
2025-04-24 10:11:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8489, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:39 [info] currentZPosition:0.0213
2025-04-24 10:11:39 [debug] Stopped at height 0.024 mm
2025-04-24 10:11:41 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:41 [debug] Diagnostics for board 50:
2025-04-24 10:11:41 [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 10:11:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:46 ago, cause: software
2025-04-24 10:11:41 [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 10:11:41 [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 10:11:41 [debug] Moves scheduled 1928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=5639, max=17857
Sync err accum 94, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:41 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 22735, writes 0 timeouts 0
2025-04-24 10:11:41 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35684/37172
2025-04-24 10:11:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8464, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:41 [info] currentZPosition:0.0219
2025-04-24 10:11:41 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:43 [debug] Stopped at height 0.019 mm
2025-04-24 10:11:43 [debug] Diagnostics for board 50:
2025-04-24 10:11:43 [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 10:11:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:47 ago, cause: software
2025-04-24 10:11:43 [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 10:11:43 [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 10:11:43 [debug] Moves scheduled 1934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 95, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:43 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 21336, writes 0 timeouts 0
2025-04-24 10:11:43 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36218/37176
2025-04-24 10:11:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:43 [info] currentZPosition:0.0190
2025-04-24 10:11:43 [debug] Stopped at height 0.017 mm
2025-04-24 10:11:44 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:44 [debug] Diagnostics for board 50:
2025-04-24 10:11:44 [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 10:11:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:49 ago, cause: software
2025-04-24 10:11:44 [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 10:11:44 [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 10:11:44 [debug] Moves scheduled 1940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6302, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:11:44 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 22263, writes 0 timeouts 0
2025-04-24 10:11:44 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36350/37173
2025-04-24 10:11:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8464, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:44 [info] currentZPosition:0.0220
2025-04-24 10:11:45 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:46 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:46 [debug] Diagnostics for board 50:
2025-04-24 10:11:46 [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 10:11:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:51 ago, cause: software
2025-04-24 10:11:46 [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 10:11:46 [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 10:11:46 [debug] Moves scheduled 1946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=18292
Sync err accum 77, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:46 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20342, writes 0 timeouts 0
2025-04-24 10:11:46 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 293, adv 36383/37178
2025-04-24 10:11:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8450, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:46 [info] currentZPosition:0.0224
2025-04-24 10:11:48 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:48 [debug] Diagnostics for board 50:
2025-04-24 10:11:48 [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 10:11:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:52 ago, cause: software
2025-04-24 10:11:48 [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 10:11:48 [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 10:11:48 [debug] Moves scheduled 1950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
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 4294930817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:48 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 19150, writes 0 timeouts 0
2025-04-24 10:11:48 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36256/37176
2025-04-24 10:11:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8468, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:48 [info] currentZPosition:0.0221
2025-04-24 10:11:49 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:49 [debug] Diagnostics for board 50:
2025-04-24 10:11:49 [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 10:11:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:54 ago, cause: software
2025-04-24 10:11:49 [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 10:11:49 [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 10:11:49 [debug] Moves scheduled 1954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:49 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16596, writes 0 timeouts 0
2025-04-24 10:11:49 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35818/37176
2025-04-24 10:11:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8476, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:49 [info] currentZPosition:0.0219
2025-04-24 10:11:50 [debug] Stopped at height 0.023 mm
2025-04-24 10:11:50 [debug] Diagnostics for board 50:
2025-04-24 10:11:50 [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 10:11:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:55 ago, cause: software
2025-04-24 10:11:50 [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 10:11:50 [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 10:11:50 [debug] Moves scheduled 1958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 82, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:11:50 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 18717, writes 0 timeouts 0
2025-04-24 10:11:50 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36153/37173
2025-04-24 10:11:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:50 [info] currentZPosition:0.0231
2025-04-24 10:11:52 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:52 [debug] Diagnostics for board 50:
2025-04-24 10:11:52 [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 10:11:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:56 ago, cause: software
2025-04-24 10:11:52 [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 10:11:52 [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 10:11:52 [debug] Moves scheduled 1962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6410, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:52 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16910, writes 0 timeouts 0
2025-04-24 10:11:52 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35968/37175
2025-04-24 10:11:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8467, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:52 [info] currentZPosition:0.0221
2025-04-24 10:11:53 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:53 [debug] Diagnostics for board 50:
2025-04-24 10:11:53 [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 10:11:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:58 ago, cause: software
2025-04-24 10:11:53 [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 10:11:53 [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 10:11:53 [debug] Moves scheduled 1966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 100, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:53 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 18933, writes 0 timeouts 0
2025-04-24 10:11:53 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 292, adv 36049/37176
2025-04-24 10:11:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8442, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:53 [info] currentZPosition:0.0225
2025-04-24 10:11:55 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:55 [debug] Diagnostics for board 50:
2025-04-24 10:11:55 [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 10:11:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:59 ago, cause: software
2025-04-24 10:11:55 [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 10:11:55 [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 10:11:55 [debug] Moves scheduled 1970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6818, max=17045
Sync err accum 104, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:55 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16743, writes 0 timeouts 0
2025-04-24 10:11:55 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37179
2025-04-24 10:11:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8477, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:55 [info] currentZPosition:0.0219
2025-04-24 10:11:56 [debug] Stopped at height 0.022 mm
2025-04-24 10:11:56 [debug] Diagnostics for board 50:
2025-04-24 10:11:56 [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 10:11:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:01 ago, cause: software
2025-04-24 10:11:56 [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 10:11:56 [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 10:11:56 [debug] Moves scheduled 1974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 103, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:56 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 19156, writes 0 timeouts 0
2025-04-24 10:11:56 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35952/37175
2025-04-24 10:11:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:56 [info] currentZPosition:0.0216
2025-04-24 10:11:57 [debug] Stopped at height 0.021 mm
2025-04-24 10:11:57 [debug] Diagnostics for board 50:
2025-04-24 10:11:57 [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 10:11:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:02 ago, cause: software
2025-04-24 10:11:57 [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 10:11:57 [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 10:11:57 [debug] Moves scheduled 1978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:11:57 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16771, writes 0 timeouts 0
2025-04-24 10:11:57 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36255/37176
2025-04-24 10:11:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8541, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:57 [info] currentZPosition:0.0207
2025-04-24 10:11:59 [debug] Stopped at height 0.024 mm
2025-04-24 10:11:59 [debug] Diagnostics for board 50:
2025-04-24 10:11:59 [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 10:11:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:04 ago, cause: software
2025-04-24 10:11:59 [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 10:11:59 [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 10:11:59 [debug] Moves scheduled 1982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=18292
Sync err accum 94, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:11:59 [debug] Driver 0: pos -3377, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 18130, writes 0 timeouts 0
2025-04-24 10:11:59 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35862/37177
2025-04-24 10:11:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8386, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:11:59 [info] currentZPosition:0.0237
2025-04-24 10:11:59 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:01 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:01 [debug] Diagnostics for board 50:
2025-04-24 10:12:01 [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 10:12:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:05 ago, cause: software
2025-04-24 10:12:01 [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 10:12:01 [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 10:12:01 [debug] Moves scheduled 1988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 84, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:01 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 21249, writes 0 timeouts 0
2025-04-24 10:12:01 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37176
2025-04-24 10:12:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8499, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:01 [info] currentZPosition:0.0215
2025-04-24 10:12:01 [debug] Stopped at height 0.020 mm
2025-04-24 10:12:02 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:02 [debug] Diagnostics for board 50:
2025-04-24 10:12:02 [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 10:12:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:07 ago, cause: software
2025-04-24 10:12:02 [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 10:12:02 [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 10:12:02 [debug] Moves scheduled 1994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 67, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:12:02 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 22616, writes 0 timeouts 0
2025-04-24 10:12:02 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35441/37177
2025-04-24 10:12:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8437, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:02 [info] currentZPosition:0.0229
2025-04-24 10:12:03 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:04 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:04 [debug] Diagnostics for board 50:
2025-04-24 10:12:04 [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 10:12:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:09 ago, cause: software
2025-04-24 10:12:04 [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 10:12:04 [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 10:12:04 [debug] Moves scheduled 2000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 65, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:04 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20673, writes 0 timeouts 0
2025-04-24 10:12:04 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35797/37176
2025-04-24 10:12:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8482, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:04 [info] currentZPosition:0.0221
2025-04-24 10:12:06 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:06 [debug] Diagnostics for board 50:
2025-04-24 10:12:06 [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 10:12:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:10 ago, cause: software
2025-04-24 10:12:06 [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 10:12:06 [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 10:12:06 [debug] Moves scheduled 2004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 78, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:06 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 18762, writes 0 timeouts 0
2025-04-24 10:12:06 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37173
2025-04-24 10:12:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8423, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:06 [info] currentZPosition:0.0232
2025-04-24 10:12:07 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:07 [debug] Diagnostics for board 50:
2025-04-24 10:12:07 [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 10:12:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:12 ago, cause: software
2025-04-24 10:12:07 [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 10:12:07 [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 10:12:07 [debug] Moves scheduled 2008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5681, max=17045
Sync err accum 87, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:07 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16406, writes 0 timeouts 0
2025-04-24 10:12:07 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35982/37175
2025-04-24 10:12:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8416, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 791
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:07 [info] currentZPosition:0.0234
2025-04-24 10:12:08 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:08 [debug] Diagnostics for board 50:
2025-04-24 10:12:08 [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 10:12:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:13 ago, cause: software
2025-04-24 10:12:08 [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 10:12:08 [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 10:12:08 [debug] Moves scheduled 2012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:08 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 19350, writes 0 timeouts 0
2025-04-24 10:12:08 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36307/37170
2025-04-24 10:12:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8469, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:08 [info] currentZPosition:0.0223
2025-04-24 10:12:10 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:10 [debug] Diagnostics for board 50:
2025-04-24 10:12:10 [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 10:12:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:15 ago, cause: software
2025-04-24 10:12:10 [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 10:12:10 [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 10:12:10 [debug] Moves scheduled 2016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6465, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:10 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16598, writes 0 timeouts 0
2025-04-24 10:12:10 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36127/37172
2025-04-24 10:12:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8476, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:10 [info] currentZPosition:0.0222
2025-04-24 10:12:11 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:11 [debug] Diagnostics for board 50:
2025-04-24 10:12:11 [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 10:12:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:16 ago, cause: software
2025-04-24 10:12:11 [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 10:12:11 [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 10:12:11 [debug] Moves scheduled 2020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:11 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 19325, writes 0 timeouts 0
2025-04-24 10:12:11 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36207/37175
2025-04-24 10:12:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8527, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:11 [info] currentZPosition:0.0212
2025-04-24 10:12:13 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:13 [debug] Diagnostics for board 50:
2025-04-24 10:12:13 [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 10:12:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:17 ago, cause: software
2025-04-24 10:12:13 [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 10:12:13 [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 10:12:13 [debug] Moves scheduled 2024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 88, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934787 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:13 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16246, writes 0 timeouts 0
2025-04-24 10:12:13 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36274/37175
2025-04-24 10:12:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8477, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:13 [info] currentZPosition:0.0222
2025-04-24 10:12:14 [debug] Stopped at height 0.024 mm
2025-04-24 10:12:14 [debug] Diagnostics for board 50:
2025-04-24 10:12:14 [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 10:12:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:19 ago, cause: software
2025-04-24 10:12:14 [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 10:12:14 [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 10:12:14 [debug] Moves scheduled 2028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 76, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:14 [debug] Driver 0: pos -3379, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 18551, writes 0 timeouts 0
2025-04-24 10:12:14 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36132/37179
2025-04-24 10:12:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8395, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:14 [info] currentZPosition:0.0239
2025-04-24 10:12:14 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:16 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:16 [debug] Diagnostics for board 50:
2025-04-24 10:12:16 [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 10:12:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:21 ago, cause: software
2025-04-24 10:12:16 [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 10:12:16 [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 10:12:16 [debug] Moves scheduled 2034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 63, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:16 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20941, writes 0 timeouts 0
2025-04-24 10:12:16 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35680/37180
2025-04-24 10:12:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8482, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:16 [info] currentZPosition:0.0223
2025-04-24 10:12:17 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:17 [debug] Diagnostics for board 50:
2025-04-24 10:12:17 [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 10:12:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:22 ago, cause: software
2025-04-24 10:12:17 [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 10:12:17 [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 10:12:17 [debug] Moves scheduled 2038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 71, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:17 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 19059, writes 0 timeouts 0
2025-04-24 10:12:17 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36025/37175
2025-04-24 10:12:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8485, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:17 [info] currentZPosition:0.0222
2025-04-24 10:12:19 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:19 [debug] Diagnostics for board 50:
2025-04-24 10:12:19 [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 10:12:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.3%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:23 ago, cause: software
2025-04-24 10:12:19 [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 10:12:19 [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 10:12:19 [debug] Moves scheduled 2042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 83, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:19 [debug] Driver 0: pos -3388, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16275, writes 0 timeouts 0
2025-04-24 10:12:19 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35843/37176
2025-04-24 10:12:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8440, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:19 [info] currentZPosition:0.0231
2025-04-24 10:12:20 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:20 [debug] Diagnostics for board 50:
2025-04-24 10:12:20 [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 10:12:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:25 ago, cause: software
2025-04-24 10:12:20 [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 10:12:20 [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 10:12:20 [debug] Moves scheduled 2046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 95, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:20 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 19196, writes 0 timeouts 0
2025-04-24 10:12:20 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35934/37174
2025-04-24 10:12:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8467, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:20 [info] currentZPosition:0.0226
2025-04-24 10:12:21 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:21 [debug] Diagnostics for board 50:
2025-04-24 10:12:21 [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 10:12:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:26 ago, cause: software
2025-04-24 10:12:21 [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 10:12:21 [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 10:12:21 [debug] Moves scheduled 2050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6302, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294928927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:21 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16629, writes 0 timeouts 0
2025-04-24 10:12:21 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35947/37176
2025-04-24 10:12:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8464, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:22 [info] currentZPosition:0.0227
2025-04-24 10:12:23 [debug] Stopped at height 0.024 mm
2025-04-24 10:12:23 [debug] Diagnostics for board 50:
2025-04-24 10:12:23 [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 10:12:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:28 ago, cause: software
2025-04-24 10:12:23 [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 10:12:23 [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 10:12:23 [debug] Moves scheduled 2054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 106, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:23 [debug] Driver 0: pos -3382, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 18700, writes 0 timeouts 0
2025-04-24 10:12:23 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35832/37174
2025-04-24 10:12:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8408, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:23 [info] currentZPosition:0.0237
2025-04-24 10:12:24 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:24 [debug] Diagnostics for board 50:
2025-04-24 10:12:24 [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 10:12:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:29 ago, cause: software
2025-04-24 10:12:24 [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 10:12:24 [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 10:12:24 [debug] Moves scheduled 2058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6465, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:24 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17021, writes 0 timeouts 0
2025-04-24 10:12:24 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36097/37174
2025-04-24 10:12:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8490, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:24 [info] currentZPosition:0.0221
2025-04-24 10:12:25 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:26 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:26 [debug] Diagnostics for board 50:
2025-04-24 10:12:26 [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 10:12:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:31 ago, cause: software
2025-04-24 10:12:26 [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 10:12:26 [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 10:12:26 [debug] Moves scheduled 2064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6048, max=17045
Sync err accum 103, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:12:26 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 23040, writes 0 timeouts 0
2025-04-24 10:12:26 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35736/37176
2025-04-24 10:12:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8484, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:26 [info] currentZPosition:0.0223
2025-04-24 10:12:27 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:27 [debug] Diagnostics for board 50:
2025-04-24 10:12:27 [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 10:12:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:32 ago, cause: software
2025-04-24 10:12:27 [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 10:12:27 [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 10:12:27 [debug] Moves scheduled 2068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=5905, max=17857
Sync err accum 96, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:12:27 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16574, writes 0 timeouts 0
2025-04-24 10:12:27 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36330/37175
2025-04-24 10:12:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8480, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:28 [info] currentZPosition:0.0224
2025-04-24 10:12:29 [debug] Stopped at height 0.024 mm
2025-04-24 10:12:29 [debug] Diagnostics for board 50:
2025-04-24 10:12:29 [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 10:12:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:34 ago, cause: software
2025-04-24 10:12:29 [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 10:12:29 [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 10:12:29 [debug] Moves scheduled 2072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 86, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:29 [debug] Driver 0: pos -3383, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 18561, writes 0 timeouts 0
2025-04-24 10:12:29 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36337/37177
2025-04-24 10:12:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:29 [info] currentZPosition:0.0237
2025-04-24 10:12:29 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:31 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:31 [debug] Diagnostics for board 50:
2025-04-24 10:12:31 [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 10:12:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:35 ago, cause: software
2025-04-24 10:12:31 [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 10:12:31 [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 10:12:31 [debug] Moves scheduled 2078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
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 4294931444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:31 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 21156, writes 0 timeouts 0
2025-04-24 10:12:31 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35797/37179
2025-04-24 10:12:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8541, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:31 [info] currentZPosition:0.0213
2025-04-24 10:12:32 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:32 [debug] Diagnostics for board 50:
2025-04-24 10:12:32 [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 10:12:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:37 ago, cause: software
2025-04-24 10:12:32 [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 10:12:32 [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 10:12:32 [debug] Moves scheduled 2082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 63, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:32 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 18602, writes 0 timeouts 0
2025-04-24 10:12:32 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36177/37178
2025-04-24 10:12:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8469, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:32 [info] currentZPosition:0.0227
2025-04-24 10:12:33 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:34 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:34 [debug] Diagnostics for board 50:
2025-04-24 10:12:34 [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 10:12:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:39 ago, cause: software
2025-04-24 10:12:34 [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 10:12:34 [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 10:12:34 [debug] Moves scheduled 2088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6465, max=17045
Sync err accum 78, peak jitter 1/4, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294936085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:34 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20466, writes 0 timeouts 0
2025-04-24 10:12:34 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35890/37174
2025-04-24 10:12:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8479, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:34 [info] currentZPosition:0.0226
2025-04-24 10:12:35 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:35 [debug] Diagnostics for board 50:
2025-04-24 10:12:35 [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 10:12:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:40 ago, cause: software
2025-04-24 10:12:35 [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 10:12:35 [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 10:12:35 [debug] Moves scheduled 2092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 86, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:35 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 18852, writes 0 timeouts 0
2025-04-24 10:12:35 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36034/37174
2025-04-24 10:12:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8458, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:35 [info] currentZPosition:0.0231
2025-04-24 10:12:37 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:37 [debug] Diagnostics for board 50:
2025-04-24 10:12:37 [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 10:12:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:41 ago, cause: software
2025-04-24 10:12:37 [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 10:12:37 [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 10:12:37 [debug] Moves scheduled 2096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17441
Sync err accum 90, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:37 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16843, writes 0 timeouts 0
2025-04-24 10:12:37 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36028/37174
2025-04-24 10:12:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8516, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:37 [info] currentZPosition:0.0219
2025-04-24 10:12:38 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:38 [debug] Diagnostics for board 50:
2025-04-24 10:12:38 [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 10:12:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:43 ago, cause: software
2025-04-24 10:12:38 [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 10:12:38 [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 10:12:38 [debug] Moves scheduled 2100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6756, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:38 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 18824, writes 0 timeouts 0
2025-04-24 10:12:38 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35907/37175
2025-04-24 10:12:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8492, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:38 [info] currentZPosition:0.0224
2025-04-24 10:12:39 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:39 [debug] Diagnostics for board 50:
2025-04-24 10:12:39 [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 10:12:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:44 ago, cause: software
2025-04-24 10:12:39 [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 10:12:39 [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 10:12:39 [debug] Moves scheduled 2104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=510, max=17857
Sync err accum 88, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:39 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16772, writes 11 timeouts 1
2025-04-24 10:12:39 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36282/37172
2025-04-24 10:12:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8541, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:40 [info] currentZPosition:0.0214
2025-04-24 10:12:41 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:41 [debug] Diagnostics for board 50:
2025-04-24 10:12:41 [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 10:12:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:46 ago, cause: software
2025-04-24 10:12:41 [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 10:12:41 [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 10:12:41 [debug] Moves scheduled 2108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=5172, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:41 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 19162, writes 0 timeouts 0
2025-04-24 10:12:41 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35761/37170
2025-04-24 10:12:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8571, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:41 [info] currentZPosition:0.0208
2025-04-24 10:12:42 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:42 [debug] Diagnostics for board 50:
2025-04-24 10:12:42 [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 10:12:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:47 ago, cause: software
2025-04-24 10:12:42 [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 10:12:42 [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 10:12:42 [debug] Moves scheduled 2112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6302, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:42 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 15970, writes 0 timeouts 0
2025-04-24 10:12:42 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35766/37178
2025-04-24 10:12:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8483, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:42 [info] currentZPosition:0.0225
2025-04-24 10:12:43 [debug] Stopped at height 0.025 mm
2025-04-24 10:12:43 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:44 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:44 [debug] Diagnostics for board 50:
2025-04-24 10:12:44 [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 10:12:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:49 ago, cause: software
2025-04-24 10:12:44 [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 10:12:44 [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 10:12:44 [debug] Moves scheduled 2119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 60, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:44 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 26291, writes 0 timeouts 0
2025-04-24 10:12:44 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36378/37181
2025-04-24 10:12:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8494, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:44 [info] currentZPosition:0.0226
2025-04-24 10:12:46 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:46 [debug] Diagnostics for board 50:
2025-04-24 10:12:46 [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 10:12:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:51 ago, cause: software
2025-04-24 10:12:46 [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 10:12:46 [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 10:12:46 [debug] Moves scheduled 2123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=117, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:46 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16768, writes 0 timeouts 0
2025-04-24 10:12:46 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35985/37172
2025-04-24 10:12:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8539, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:46 [info] currentZPosition:0.0218
2025-04-24 10:12:47 [debug] Stopped at height 0.021 mm
2025-04-24 10:12:47 [debug] Diagnostics for board 50:
2025-04-24 10:12:47 [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 10:12:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:52 ago, cause: software
2025-04-24 10:12:47 [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 10:12:47 [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 10:12:47 [debug] Moves scheduled 2127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 88, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:12:47 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 19075, writes 0 timeouts 0
2025-04-24 10:12:47 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36231/37172
2025-04-24 10:12:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8550, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:47 [info] currentZPosition:0.0215
2025-04-24 10:12:49 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:49 [debug] Diagnostics for board 50:
2025-04-24 10:12:49 [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 10:12:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:53 ago, cause: software
2025-04-24 10:12:49 [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 10:12:49 [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 10:12:49 [debug] Moves scheduled 2131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17857
Sync err accum 97, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:49 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16214, writes 0 timeouts 0
2025-04-24 10:12:49 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36218/37172
2025-04-24 10:12:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8502, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:49 [info] currentZPosition:0.0225
2025-04-24 10:12:50 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:50 [debug] Diagnostics for board 50:
2025-04-24 10:12:50 [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 10:12:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:55 ago, cause: software
2025-04-24 10:12:50 [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 10:12:50 [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 10:12:50 [debug] Moves scheduled 2135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=18292
Sync err accum 105, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:50 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 18854, writes 0 timeouts 0
2025-04-24 10:12:50 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36077/37174
2025-04-24 10:12:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8484, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:50 [info] currentZPosition:0.0229
2025-04-24 10:12:51 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:51 [debug] Diagnostics for board 50:
2025-04-24 10:12:51 [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 10:12:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:56 ago, cause: software
2025-04-24 10:12:51 [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 10:12:51 [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 10:12:51 [debug] Moves scheduled 2139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17441
Sync err accum 108, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:51 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16349, writes 0 timeouts 0
2025-04-24 10:12:51 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36406/37175
2025-04-24 10:12:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8452, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:51 [info] currentZPosition:0.0235
2025-04-24 10:12:53 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:53 [debug] Diagnostics for board 50:
2025-04-24 10:12:53 [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 10:12:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:58 ago, cause: software
2025-04-24 10:12:53 [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 10:12:53 [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 10:12:53 [debug] Moves scheduled 2143, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 110, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:12:53 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 19029, writes 0 timeouts 0
2025-04-24 10:12:53 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35940/37175
2025-04-24 10:12:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8450, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:53 [info] currentZPosition:0.0235
2025-04-24 10:12:54 [debug] Stopped at height 0.023 mm
2025-04-24 10:12:54 [debug] Diagnostics for board 50:
2025-04-24 10:12:54 [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 10:12:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:59 ago, cause: software
2025-04-24 10:12:54 [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 10:12:54 [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 10:12:54 [debug] Moves scheduled 2147, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 107, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:54 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16513, writes 0 timeouts 0
2025-04-24 10:12:54 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35867/37176
2025-04-24 10:12:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8449, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:54 [info] currentZPosition:0.0235
2025-04-24 10:12:56 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:56 [debug] Diagnostics for board 50:
2025-04-24 10:12:56 [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 10:12:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:01 ago, cause: software
2025-04-24 10:12:56 [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 10:12:56 [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 10:12:56 [debug] Moves scheduled 2151, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5136, max=17045
Sync err accum 101, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:56 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 19604, writes 0 timeouts 0
2025-04-24 10:12:56 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35788/37176
2025-04-24 10:12:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8541, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:56 [info] currentZPosition:0.0217
2025-04-24 10:12:56 [debug] Stopped at height 0.019 mm
2025-04-24 10:12:57 [debug] Stopped at height 0.019 mm
2025-04-24 10:12:58 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:58 [debug] Diagnostics for board 50:
2025-04-24 10:12:58 [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 10:12:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:03 ago, cause: software
2025-04-24 10:12:58 [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 10:12:58 [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 10:12:58 [debug] Moves scheduled 2159, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6097, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:12:58 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 24248, writes 0 timeouts 0
2025-04-24 10:12:58 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36122/37179
2025-04-24 10:12:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8522, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:12:58 [info] currentZPosition:0.0223
2025-04-24 10:12:58 [debug] Stopped at height 0.025 mm
2025-04-24 10:12:58 [debug] Stopped at height 0.022 mm
2025-04-24 10:12:59 [debug] Stopped at height 0.021 mm
2025-04-24 10:13:00 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:00 [debug] Diagnostics for board 50:
2025-04-24 10:13:00 [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 10:13:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:05 ago, cause: software
2025-04-24 10:13:00 [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 10:13:00 [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 10:13:00 [debug] Moves scheduled 2169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=5102, max=17045
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 4294936193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:13:00 [debug] Driver 0: pos -3381, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 30485, writes 0 timeouts 0
2025-04-24 10:13:00 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 34, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35686/37179
2025-04-24 10:13:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8406, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:00 [info] currentZPosition:0.0248
2025-04-24 10:13:01 [debug] Stopped at height 0.022 mm
2025-04-24 10:13:02 [debug] Stopped at height 0.021 mm
2025-04-24 10:13:02 [debug] Diagnostics for board 50:
2025-04-24 10:13:02 [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 10:13:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:07 ago, cause: software
2025-04-24 10:13:02 [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 10:13:02 [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 10:13:02 [debug] Moves scheduled 2175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=82, frequency (Hz): min=5474, max=17857
Sync err accum 71, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:13:02 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 21467, writes 0 timeouts 0
2025-04-24 10:13:02 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36330/37171
2025-04-24 10:13:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8584, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:02 [info] currentZPosition:0.0214
2025-04-24 10:13:03 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:03 [debug] Diagnostics for board 50:
2025-04-24 10:13:03 [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 10:13:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:08 ago, cause: software
2025-04-24 10:13:03 [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 10:13:03 [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 10:13:03 [debug] Moves scheduled 2179, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=631, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:13:03 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 18276, writes 11 timeouts 1
2025-04-24 10:13:03 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36306/37174
2025-04-24 10:13:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8471, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:03 [info] currentZPosition:0.0235
2025-04-24 10:13:04 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:05 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:05 [debug] Diagnostics for board 50:
2025-04-24 10:13:05 [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 10:13:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:10 ago, cause: software
2025-04-24 10:13:05 [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 10:13:05 [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 10:13:05 [debug] Moves scheduled 2185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:13:05 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20000, writes 0 timeouts 0
2025-04-24 10:13:05 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35801/37174
2025-04-24 10:13:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8444, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:05 [info] currentZPosition:0.0242
2025-04-24 10:13:07 [debug] Stopped at height 0.021 mm
2025-04-24 10:13:07 [debug] Diagnostics for board 50:
2025-04-24 10:13:07 [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 10:13:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:15:11 ago, cause: software
2025-04-24 10:13:07 [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 10:13:07 [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 10:13:07 [debug] Moves scheduled 2189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 93, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:13:07 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 19795, writes 0 timeouts 0
2025-04-24 10:13:07 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36159/37176
2025-04-24 10:13:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:07 [info] currentZPosition:0.0215
2025-04-24 10:13:07 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:08 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:08 [debug] Diagnostics for board 50:
2025-04-24 10:13:08 [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 10:13:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:13 ago, cause: software
2025-04-24 10:13:08 [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 10:13:08 [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 10:13:08 [debug] Moves scheduled 2195, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 91, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:08 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 19810, writes 0 timeouts 0
2025-04-24 10:13:08 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35997/37176
2025-04-24 10:13:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:08 [info] currentZPosition:0.0234
2025-04-24 10:13:10 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:10 [debug] Diagnostics for board 50:
2025-04-24 10:13:10 [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 10:13:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:15:14 ago, cause: software
2025-04-24 10:13:10 [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 10:13:10 [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 10:13:10 [debug] Moves scheduled 2199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:10 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 19009, writes 0 timeouts 0
2025-04-24 10:13:10 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36033/37178
2025-04-24 10:13:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8508, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:10 [info] currentZPosition:0.0232
2025-04-24 10:13:11 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:11 [debug] Diagnostics for board 50:
2025-04-24 10:13:11 [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 10:13:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:16 ago, cause: software
2025-04-24 10:13:11 [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 10:13:11 [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 10:13:11 [debug] Moves scheduled 2203, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 76, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:13:11 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16395, writes 0 timeouts 0
2025-04-24 10:13:11 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36218/37178
2025-04-24 10:13:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8483, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:11 [info] currentZPosition:0.0238
2025-04-24 10:13:13 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:13 [debug] Diagnostics for board 50:
2025-04-24 10:13:13 [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 10:13:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:15:17 ago, cause: software
2025-04-24 10:13:13 [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 10:13:13 [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 10:13:13 [debug] Moves scheduled 2207, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17857
Sync err accum 64, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:13:13 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 19263, writes 0 timeouts 0
2025-04-24 10:13:13 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35905/37175
2025-04-24 10:13:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8532, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:13 [info] currentZPosition:0.0228
2025-04-24 10:13:14 [debug] Stopped at height 0.022 mm
2025-04-24 10:13:14 [debug] Diagnostics for board 50:
2025-04-24 10:13:14 [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 10:13:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:19 ago, cause: software
2025-04-24 10:13:14 [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 10:13:14 [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 10:13:14 [debug] Moves scheduled 2211, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17857
Sync err accum 66, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:14 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16616, writes 0 timeouts 0
2025-04-24 10:13:14 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35714/37175
2025-04-24 10:13:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8547, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:14 [info] currentZPosition:0.0225
2025-04-24 10:13:15 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:15 [debug] Diagnostics for board 50:
2025-04-24 10:13:15 [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 10:13:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:20 ago, cause: software
2025-04-24 10:13:15 [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 10:13:15 [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 10:13:15 [debug] Moves scheduled 2215, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17857
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:13:15 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 18394, writes 0 timeouts 0
2025-04-24 10:13:15 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35755/37176
2025-04-24 10:13:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8455, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:15 [info] currentZPosition:0.0243
2025-04-24 10:13:16 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:17 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:17 [debug] Diagnostics for board 50:
2025-04-24 10:13:17 [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 10:13:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:22 ago, cause: software
2025-04-24 10:13:17 [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 10:13:17 [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 10:13:17 [debug] Moves scheduled 2221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
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 4294930878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:17 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20438, writes 0 timeouts 0
2025-04-24 10:13:17 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 35887/37177
2025-04-24 10:13:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8463, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:17 [info] currentZPosition:0.0243
2025-04-24 10:13:17 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:19 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:19 [debug] Diagnostics for board 50:
2025-04-24 10:13:19 [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 10:13:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:24 ago, cause: software
2025-04-24 10:13:19 [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 10:13:19 [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 10:13:19 [debug] Moves scheduled 2227, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 65, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:19 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 22981, writes 0 timeouts 0
2025-04-24 10:13:19 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36375/37178
2025-04-24 10:13:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8492, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:19 [info] currentZPosition:0.0237
2025-04-24 10:13:20 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:20 [debug] Diagnostics for board 50:
2025-04-24 10:13:20 [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 10:13:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:25 ago, cause: software
2025-04-24 10:13:20 [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 10:13:20 [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 10:13:20 [debug] Moves scheduled 2231, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6000, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:20 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16519, writes 0 timeouts 0
2025-04-24 10:13:20 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37174
2025-04-24 10:13:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:20 [info] currentZPosition:0.0238
2025-04-24 10:13:22 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:22 [debug] Diagnostics for board 50:
2025-04-24 10:13:22 [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 10:13:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:26 ago, cause: software
2025-04-24 10:13:22 [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 10:13:22 [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 10:13:22 [debug] Moves scheduled 2235, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:22 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 18843, writes 0 timeouts 0
2025-04-24 10:13:22 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36262/37177
2025-04-24 10:13:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8476, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:22 [info] currentZPosition:0.0241
2025-04-24 10:13:23 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:23 [debug] Diagnostics for board 50:
2025-04-24 10:13:23 [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 10:13:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:28 ago, cause: software
2025-04-24 10:13:23 [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 10:13:23 [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 10:13:23 [debug] Moves scheduled 2239, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6696, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:13:23 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16182, writes 0 timeouts 0
2025-04-24 10:13:23 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36326/37177
2025-04-24 10:13:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8417, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:23 [info] currentZPosition:0.0251
2025-04-24 10:13:25 [debug] Stopped at height 0.022 mm
2025-04-24 10:13:25 [debug] Diagnostics for board 50:
2025-04-24 10:13:25 [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 10:13:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:29 ago, cause: software
2025-04-24 10:13:25 [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 10:13:25 [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 10:13:25 [debug] Moves scheduled 2243, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:13:25 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19975, writes 0 timeouts 0
2025-04-24 10:13:25 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36136/37176
2025-04-24 10:13:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8598, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:25 [info] currentZPosition:0.0218
2025-04-24 10:13:25 [debug] Stopped at height 0.020 mm
2025-04-24 10:13:26 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:26 [debug] Diagnostics for board 50:
2025-04-24 10:13:26 [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 10:13:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:31 ago, cause: software
2025-04-24 10:13:26 [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 10:13:26 [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 10:13:26 [debug] Moves scheduled 2249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294936050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:26 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 19894, writes 0 timeouts 0
2025-04-24 10:13:26 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35807/37174
2025-04-24 10:13:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8467, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:26 [info] currentZPosition:0.0243
2025-04-24 10:13:27 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:28 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:28 [debug] Diagnostics for board 50:
2025-04-24 10:13:28 [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 10:13:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:33 ago, cause: software
2025-04-24 10:13:28 [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 10:13:28 [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 10:13:28 [debug] Moves scheduled 2255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 73, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:28 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 22951, writes 0 timeouts 0
2025-04-24 10:13:28 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35982/37179
2025-04-24 10:13:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8473, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:28 [info] currentZPosition:0.0243
2025-04-24 10:13:29 [debug] Stopped at height 0.022 mm
2025-04-24 10:13:29 [debug] Diagnostics for board 50:
2025-04-24 10:13:29 [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 10:13:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:34 ago, cause: software
2025-04-24 10:13:29 [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 10:13:29 [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 10:13:29 [debug] Moves scheduled 2259, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:29 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17330, writes 0 timeouts 0
2025-04-24 10:13:29 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35993/37177
2025-04-24 10:13:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8614, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:29 [info] currentZPosition:0.0217
2025-04-24 10:13:30 [debug] Stopped at height 0.022 mm
2025-04-24 10:13:31 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:31 [debug] Diagnostics for board 50:
2025-04-24 10:13:31 [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 10:13:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:36 ago, cause: software
2025-04-24 10:13:31 [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 10:13:31 [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 10:13:31 [debug] Moves scheduled 2265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:31 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 22235, writes 0 timeouts 0
2025-04-24 10:13:31 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35856/37174
2025-04-24 10:13:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8521, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:31 [info] currentZPosition:0.0235
2025-04-24 10:13:31 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:33 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:33 [debug] Diagnostics for board 50:
2025-04-24 10:13:33 [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 10:13:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:37 ago, cause: software
2025-04-24 10:13:33 [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 10:13:33 [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 10:13:33 [debug] Moves scheduled 2271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:33 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 19729, writes 0 timeouts 0
2025-04-24 10:13:33 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36173/37171
2025-04-24 10:13:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8433, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:33 [info] currentZPosition:0.0252
2025-04-24 10:13:33 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:35 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:35 [debug] Diagnostics for board 50:
2025-04-24 10:13:35 [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 10:13:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,121) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:39 ago, cause: software
2025-04-24 10:13:35 [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 10:13:35 [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 10:13:35 [debug] Moves scheduled 2277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=5813, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:35 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 23221, writes 0 timeouts 0
2025-04-24 10:13:35 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35717/37174
2025-04-24 10:13:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8516, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:35 [info] currentZPosition:0.0238
2025-04-24 10:13:36 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:36 [debug] Diagnostics for board 50:
2025-04-24 10:13:36 [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 10:13:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:41 ago, cause: software
2025-04-24 10:13:36 [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 10:13:36 [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 10:13:36 [debug] Moves scheduled 2281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6818, max=18292
Sync err accum 70, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:36 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16209, writes 0 timeouts 0
2025-04-24 10:13:36 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36408/37172
2025-04-24 10:13:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8453, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:36 [info] currentZPosition:0.0249
2025-04-24 10:13:37 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:37 [debug] Diagnostics for board 50:
2025-04-24 10:13:37 [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 10:13:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:42 ago, cause: software
2025-04-24 10:13:37 [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 10:13:37 [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 10:13:37 [debug] Moves scheduled 2285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17857
Sync err accum 74, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:37 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 19559, writes 0 timeouts 0
2025-04-24 10:13:37 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36353/37175
2025-04-24 10:13:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8562, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:37 [info] currentZPosition:0.0230
2025-04-24 10:13:38 [debug] Stopped at height 0.022 mm
2025-04-24 10:13:39 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:39 [debug] Diagnostics for board 50:
2025-04-24 10:13:39 [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 10:13:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:44 ago, cause: software
2025-04-24 10:13:39 [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 10:13:39 [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 10:13:39 [debug] Moves scheduled 2291, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6818, max=17045
Sync err accum 75, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:39 [debug] Driver 0: pos -3391, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 19955, writes 0 timeouts 0
2025-04-24 10:13:39 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35871/37175
2025-04-24 10:13:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8454, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:39 [info] currentZPosition:0.0251
2025-04-24 10:13:39 [debug] Stopped at height 0.022 mm
2025-04-24 10:13:41 [debug] Stopped at height 0.026 mm
2025-04-24 10:13:41 [debug] Diagnostics for board 50:
2025-04-24 10:13:41 [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 10:13:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:46 ago, cause: software
2025-04-24 10:13:41 [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 10:13:41 [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 10:13:41 [debug] Moves scheduled 2297, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:13:41 [debug] Driver 0: pos -3385, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 22580, writes 0 timeouts 0
2025-04-24 10:13:41 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36232/37176
2025-04-24 10:13:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8423, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:41 [info] currentZPosition:0.0258
2025-04-24 10:13:41 [debug] Stopped at height 0.028 mm
2025-04-24 10:13:41 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:42 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:42 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:43 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:43 [debug] Diagnostics for board 50:
2025-04-24 10:13:43 [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 10:13:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:48 ago, cause: software
2025-04-24 10:13:43 [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 10:13:43 [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 10:13:43 [debug] Moves scheduled 2308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6147, max=17857
Sync err accum 69, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:13:43 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 32391, writes 0 timeouts 0
2025-04-24 10:13:43 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 36, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36047/37177
2025-04-24 10:13:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8474, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:43 [info] currentZPosition:0.0251
2025-04-24 10:13:44 [debug] Stopped at height 0.028 mm
2025-04-24 10:13:44 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:46 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:46 [debug] Diagnostics for board 50:
2025-04-24 10:13:46 [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 10:13:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:50 ago, cause: software
2025-04-24 10:13:46 [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 10:13:46 [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 10:13:46 [debug] Moves scheduled 2315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 76, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:13:46 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 26422, writes 0 timeouts 0
2025-04-24 10:13:46 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37175
2025-04-24 10:13:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8508, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:46 [info] currentZPosition:0.0247
2025-04-24 10:13:47 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:47 [debug] Diagnostics for board 50:
2025-04-24 10:13:47 [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 10:13:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:52 ago, cause: software
2025-04-24 10:13:47 [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 10:13:47 [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 10:13:47 [debug] Moves scheduled 2319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6521, max=17857
Sync err accum 78, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294928807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:47 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16478, writes 0 timeouts 0
2025-04-24 10:13:47 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36259/37177
2025-04-24 10:13:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8484, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:47 [info] currentZPosition:0.0251
2025-04-24 10:13:48 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:48 [debug] Diagnostics for board 50:
2025-04-24 10:13:48 [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 10:13:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:53 ago, cause: software
2025-04-24 10:13:48 [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 10:13:48 [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 10:13:48 [debug] Moves scheduled 2323, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:48 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19568, writes 0 timeouts 0
2025-04-24 10:13:48 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35980/37173
2025-04-24 10:13:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8594, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:48 [info] currentZPosition:0.0230
2025-04-24 10:13:49 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 10:13:50 [debug] Stopped at height 0.026 mm
2025-04-24 10:13:50 [debug] Diagnostics for board 50:
2025-04-24 10:13:50 [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 10:13:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:55 ago, cause: software
2025-04-24 10:13:50 [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 10:13:50 [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 10:13:50 [debug] Moves scheduled 2328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:50 [debug] Driver 0: pos -3386, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 18820, writes 0 timeouts 0
2025-04-24 10:13:50 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 35686/37176
2025-04-24 10:13:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8427, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:50 [info] currentZPosition:0.0261
2025-04-24 10:13:51 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:51 [debug] Diagnostics for board 50:
2025-04-24 10:13:51 [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 10:13:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:56 ago, cause: software
2025-04-24 10:13:51 [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 10:13:51 [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 10:13:51 [debug] Moves scheduled 2332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:51 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 19513, writes 0 timeouts 0
2025-04-24 10:13:51 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35855/37178
2025-04-24 10:13:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8534, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:52 [info] currentZPosition:0.0242
2025-04-24 10:13:52 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:53 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:53 [debug] Diagnostics for board 50:
2025-04-24 10:13:53 [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 10:13:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:58 ago, cause: software
2025-04-24 10:13:53 [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 10:13:53 [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 10:13:53 [debug] Moves scheduled 2338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:53 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20294, writes 0 timeouts 0
2025-04-24 10:13:53 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35900/37177
2025-04-24 10:13:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:53 [info] currentZPosition:0.0250
2025-04-24 10:13:54 [debug] Stopped at height 0.024 mm
2025-04-24 10:13:55 [debug] Stopped at height 0.025 mm
2025-04-24 10:13:55 [debug] Diagnostics for board 50:
2025-04-24 10:13:55 [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 10:13:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:00 ago, cause: software
2025-04-24 10:13:55 [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 10:13:55 [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 10:13:55 [debug] Moves scheduled 2344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:55 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 22755, writes 0 timeouts 0
2025-04-24 10:13:55 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35731/37177
2025-04-24 10:13:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8488, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:55 [info] currentZPosition:0.0252
2025-04-24 10:13:55 [debug] Stopped at height 0.026 mm
2025-04-24 10:13:57 [debug] Stopped at height 0.026 mm
2025-04-24 10:13:57 [debug] Diagnostics for board 50:
2025-04-24 10:13:57 [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 10:13:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:01 ago, cause: software
2025-04-24 10:13:57 [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 10:13:57 [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 10:13:57 [debug] Moves scheduled 2350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:13:57 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20242, writes 0 timeouts 0
2025-04-24 10:13:57 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36072/37171
2025-04-24 10:13:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8468, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:57 [info] currentZPosition:0.0257
2025-04-24 10:13:58 [debug] Stopped at height 0.026 mm
2025-04-24 10:13:58 [debug] Diagnostics for board 50:
2025-04-24 10:13:58 [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 10:13:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:03 ago, cause: software
2025-04-24 10:13:58 [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 10:13:58 [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 10:13:58 [debug] Moves scheduled 2354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 71, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:13:58 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 18762, writes 0 timeouts 0
2025-04-24 10:13:58 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36352/37173
2025-04-24 10:13:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8452, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:13:58 [info] currentZPosition:0.0260
2025-04-24 10:13:59 [debug] Stopped at height 0.023 mm
2025-04-24 10:13:59 [debug] Diagnostics for board 50:
2025-04-24 10:13:59 [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 10:13:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:04 ago, cause: software
2025-04-24 10:13:59 [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 10:13:59 [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 10:13:59 [debug] Moves scheduled 2358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:13:59 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17566, writes 0 timeouts 0
2025-04-24 10:13:59 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36254/37171
2025-04-24 10:13:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8615, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:00 [info] currentZPosition:0.0229
2025-04-24 10:14:00 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:01 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:01 [debug] Diagnostics for board 50:
2025-04-24 10:14:01 [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 10:14:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:06 ago, cause: software
2025-04-24 10:14:01 [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 10:14:01 [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 10:14:01 [debug] Moves scheduled 2364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 64, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:01 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 21824, writes 0 timeouts 0
2025-04-24 10:14:01 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36230/37175
2025-04-24 10:14:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8486, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:01 [info] currentZPosition:0.0254
2025-04-24 10:14:02 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:03 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:03 [debug] Diagnostics for board 50:
2025-04-24 10:14:03 [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 10:14:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:08 ago, cause: software
2025-04-24 10:14:03 [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 10:14:03 [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 10:14:03 [debug] Moves scheduled 2370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=172, frequency (Hz): min=5033, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:03 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20191, writes 0 timeouts 0
2025-04-24 10:14:03 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35675/37174
2025-04-24 10:14:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8448, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:03 [info] currentZPosition:0.0263
2025-04-24 10:14:03 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:05 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:05 [debug] Diagnostics for board 50:
2025-04-24 10:14:05 [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 10:14:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:09 ago, cause: software
2025-04-24 10:14:05 [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 10:14:05 [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 10:14:05 [debug] Moves scheduled 2376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:05 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 23383, writes 0 timeouts 0
2025-04-24 10:14:05 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 10:14:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8547, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:05 [info] currentZPosition:0.0246
2025-04-24 10:14:06 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:06 [debug] Diagnostics for board 50:
2025-04-24 10:14:06 [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 10:14:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:11 ago, cause: software
2025-04-24 10:14:06 [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 10:14:06 [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 10:14:06 [debug] Moves scheduled 2380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 65, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:06 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16372, writes 0 timeouts 0
2025-04-24 10:14:06 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35895/37178
2025-04-24 10:14:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8513, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:06 [info] currentZPosition:0.0252
2025-04-24 10:14:07 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:07 [debug] Diagnostics for board 50:
2025-04-24 10:14:07 [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 10:14:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:12 ago, cause: software
2025-04-24 10:14:07 [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 10:14:07 [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 10:14:07 [debug] Moves scheduled 2384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 66, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:07 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 18760, writes 0 timeouts 0
2025-04-24 10:14:07 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35981/37175
2025-04-24 10:14:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:08 [info] currentZPosition:0.0256
2025-04-24 10:14:09 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:09 [debug] Diagnostics for board 50:
2025-04-24 10:14:09 [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 10:14:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:14 ago, cause: software
2025-04-24 10:14:09 [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 10:14:09 [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 10:14:09 [debug] Moves scheduled 2388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 76, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:09 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16822, writes 0 timeouts 0
2025-04-24 10:14:09 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36063/37173
2025-04-24 10:14:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8525, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:09 [info] currentZPosition:0.0249
2025-04-24 10:14:10 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:10 [debug] Diagnostics for board 50:
2025-04-24 10:14:10 [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 10:14:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:15 ago, cause: software
2025-04-24 10:14:10 [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 10:14:10 [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 10:14:10 [debug] Moves scheduled 2392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 83, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294927403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:10 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 18292, writes 0 timeouts 0
2025-04-24 10:14:10 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35857/37174
2025-04-24 10:14:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 790
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8423, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:10 [info] currentZPosition:0.0270
2025-04-24 10:14:11 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 10:14:11 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:12 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:12 [debug] Diagnostics for board 50:
2025-04-24 10:14:12 [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 10:14:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:17 ago, cause: software
2025-04-24 10:14:12 [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 10:14:12 [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 10:14:12 [debug] Moves scheduled 2399, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 87, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:12 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 24504, writes 0 timeouts 0
2025-04-24 10:14:12 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36247/37175
2025-04-24 10:14:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8524, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:12 [info] currentZPosition:0.0250
2025-04-24 10:14:14 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:14 [debug] Diagnostics for board 50:
2025-04-24 10:14:14 [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 10:14:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:19 ago, cause: software
2025-04-24 10:14:14 [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 10:14:14 [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 10:14:14 [debug] Moves scheduled 2403, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:14 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 18864, writes 0 timeouts 0
2025-04-24 10:14:14 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35760/37173
2025-04-24 10:14:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8518, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:14 [info] currentZPosition:0.0251
2025-04-24 10:14:15 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:15 [debug] Diagnostics for board 50:
2025-04-24 10:14:15 [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 10:14:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:20 ago, cause: software
2025-04-24 10:14:15 [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 10:14:15 [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 10:14:15 [debug] Moves scheduled 2407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
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 4294931078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:15 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16458, writes 0 timeouts 0
2025-04-24 10:14:15 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35679/37173
2025-04-24 10:14:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8495, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:15 [info] currentZPosition:0.0256
2025-04-24 10:14:17 [debug] Stopped at height 0.023 mm
2025-04-24 10:14:17 [debug] Diagnostics for board 50:
2025-04-24 10:14:17 [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 10:14:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:21 ago, cause: software
2025-04-24 10:14:17 [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 10:14:17 [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 10:14:17 [debug] Moves scheduled 2411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 78, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:17 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 19651, writes 0 timeouts 0
2025-04-24 10:14:17 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36368/37178
2025-04-24 10:14:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8630, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:17 [info] currentZPosition:0.0232
2025-04-24 10:14:17 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:18 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:18 [debug] Diagnostics for board 50:
2025-04-24 10:14:18 [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 10:14:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:23 ago, cause: software
2025-04-24 10:14:18 [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 10:14:18 [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 10:14:18 [debug] Moves scheduled 2417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 65, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936145 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:14:18 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 19676, writes 0 timeouts 0
2025-04-24 10:14:18 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35872/37179
2025-04-24 10:14:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8498, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:18 [info] currentZPosition:0.0257
2025-04-24 10:14:20 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:20 [debug] Diagnostics for board 50:
2025-04-24 10:14:20 [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 10:14:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:25 ago, cause: software
2025-04-24 10:14:20 [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 10:14:20 [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 10:14:20 [debug] Moves scheduled 2421, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 67, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:20 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 19250, writes 0 timeouts 0
2025-04-24 10:14:20 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36254/37178
2025-04-24 10:14:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8564, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:20 [info] currentZPosition:0.0245
2025-04-24 10:14:20 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:21 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:21 [debug] Diagnostics for board 50:
2025-04-24 10:14:21 [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 10:14:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:26 ago, cause: software
2025-04-24 10:14:21 [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 10:14:21 [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 10:14:21 [debug] Moves scheduled 2427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5681, max=17857
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:14:21 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20696, writes 0 timeouts 0
2025-04-24 10:14:21 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36045/37172
2025-04-24 10:14:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8592, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:22 [info] currentZPosition:0.0241
2025-04-24 10:14:23 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:23 [debug] Diagnostics for board 50:
2025-04-24 10:14:23 [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 10:14:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:28 ago, cause: software
2025-04-24 10:14:23 [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 10:14:23 [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 10:14:23 [debug] Moves scheduled 2431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 91, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:14:23 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 18615, writes 0 timeouts 0
2025-04-24 10:14:23 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36129/37172
2025-04-24 10:14:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8546, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:23 [info] currentZPosition:0.0249
2025-04-24 10:14:24 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:24 [debug] Diagnostics for board 50:
2025-04-24 10:14:24 [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 10:14:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:29 ago, cause: software
2025-04-24 10:14:24 [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 10:14:24 [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 10:14:24 [debug] Moves scheduled 2435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 98, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:14:24 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16434, writes 0 timeouts 0
2025-04-24 10:14:24 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36216/37174
2025-04-24 10:14:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8521, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:24 [info] currentZPosition:0.0253
2025-04-24 10:14:26 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:26 [debug] Diagnostics for board 50:
2025-04-24 10:14:26 [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 10:14:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:31 ago, cause: software
2025-04-24 10:14:26 [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 10:14:26 [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 10:14:26 [debug] Moves scheduled 2439, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:26 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 18962, writes 0 timeouts 0
2025-04-24 10:14:26 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36003/37174
2025-04-24 10:14:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:26 [info] currentZPosition:0.0249
2025-04-24 10:14:27 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:27 [debug] Diagnostics for board 50:
2025-04-24 10:14:27 [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 10:14:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:32 ago, cause: software
2025-04-24 10:14:27 [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 10:14:27 [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 10:14:27 [debug] Moves scheduled 2443, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 100, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:27 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16984, writes 0 timeouts 0
2025-04-24 10:14:27 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37174
2025-04-24 10:14:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8595, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:27 [info] currentZPosition:0.0240
2025-04-24 10:14:29 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:29 [debug] Diagnostics for board 50:
2025-04-24 10:14:29 [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 10:14:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:33 ago, cause: software
2025-04-24 10:14:29 [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 10:14:29 [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 10:14:29 [debug] Moves scheduled 2447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 95, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:29 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 18183, writes 0 timeouts 0
2025-04-24 10:14:29 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35901/37178
2025-04-24 10:14:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8483, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:29 [info] currentZPosition:0.0260
2025-04-24 10:14:29 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:30 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:30 [debug] Diagnostics for board 50:
2025-04-24 10:14:30 [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 10:14:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:35 ago, cause: software
2025-04-24 10:14:30 [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 10:14:30 [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 10:14:30 [debug] Moves scheduled 2453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 87, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:30 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20758, writes 0 timeouts 0
2025-04-24 10:14:30 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35808/37178
2025-04-24 10:14:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8541, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:30 [info] currentZPosition:0.0252
2025-04-24 10:14:32 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:32 [debug] Diagnostics for board 50:
2025-04-24 10:14:32 [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 10:14:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:37 ago, cause: software
2025-04-24 10:14:32 [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 10:14:32 [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 10:14:32 [debug] Moves scheduled 2457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 76, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:14:32 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 18855, writes 0 timeouts 0
2025-04-24 10:14:32 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35786/37178
2025-04-24 10:14:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8539, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:32 [info] currentZPosition:0.0253
2025-04-24 10:14:33 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:33 [debug] Diagnostics for board 50:
2025-04-24 10:14:33 [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 10:14:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:38 ago, cause: software
2025-04-24 10:14:33 [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 10:14:33 [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 10:14:33 [debug] Moves scheduled 2461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:33 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16236, writes 0 timeouts 0
2025-04-24 10:14:33 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36039/37178
2025-04-24 10:14:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8472, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:33 [info] currentZPosition:0.0265
2025-04-24 10:14:35 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:35 [debug] Diagnostics for board 50:
2025-04-24 10:14:35 [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 10:14:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:39 ago, cause: software
2025-04-24 10:14:35 [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 10:14:35 [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 10:14:35 [debug] Moves scheduled 2465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -3/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:35 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 19014, writes 0 timeouts 0
2025-04-24 10:14:35 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36385/37176
2025-04-24 10:14:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8511, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:35 [info] currentZPosition:0.0258
2025-04-24 10:14:36 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:36 [debug] Diagnostics for board 50:
2025-04-24 10:14:36 [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 10:14:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:41 ago, cause: software
2025-04-24 10:14:36 [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 10:14:36 [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 10:14:36 [debug] Moves scheduled 2469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:36 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16654, writes 0 timeouts 0
2025-04-24 10:14:36 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36260/37171
2025-04-24 10:14:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8527, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:36 [info] currentZPosition:0.0255
2025-04-24 10:14:37 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:37 [debug] Diagnostics for board 50:
2025-04-24 10:14:37 [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 10:14:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:42 ago, cause: software
2025-04-24 10:14:37 [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 10:14:37 [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 10:14:37 [debug] Moves scheduled 2473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17857
Sync err accum 82, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:37 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 18531, writes 0 timeouts 0
2025-04-24 10:14:37 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36309/37173
2025-04-24 10:14:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8477, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:37 [info] currentZPosition:0.0265
2025-04-24 10:14:39 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:39 [debug] Diagnostics for board 50:
2025-04-24 10:14:39 [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 10:14:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:44 ago, cause: software
2025-04-24 10:14:39 [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 10:14:39 [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 10:14:39 [debug] Moves scheduled 2477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:14:39 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16709, writes 0 timeouts 0
2025-04-24 10:14:39 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35733/37172
2025-04-24 10:14:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8505, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:39 [info] currentZPosition:0.0259
2025-04-24 10:14:40 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:40 [debug] Diagnostics for board 50:
2025-04-24 10:14:40 [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 10:14:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:45 ago, cause: software
2025-04-24 10:14:40 [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 10:14:40 [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 10:14:40 [debug] Moves scheduled 2481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=540, max=18292
Sync err accum 86, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:14:40 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 18836, writes 11 timeouts 1
2025-04-24 10:14:40 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36183/37176
2025-04-24 10:14:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8514, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:40 [info] currentZPosition:0.0257
2025-04-24 10:14:42 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:42 [debug] Diagnostics for board 50:
2025-04-24 10:14:42 [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 10:14:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:46 ago, cause: software
2025-04-24 10:14:42 [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 10:14:42 [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 10:14:42 [debug] Moves scheduled 2485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=495, max=18292
Sync err accum 85, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932651 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:14:42 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16995, writes 11 timeouts 1
2025-04-24 10:14:42 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35869/37169
2025-04-24 10:14:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8583, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:42 [info] currentZPosition:0.0245
2025-04-24 10:14:42 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:43 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:43 [debug] Diagnostics for board 50:
2025-04-24 10:14:43 [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 10:14:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:48 ago, cause: software
2025-04-24 10:14:43 [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 10:14:43 [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 10:14:43 [debug] Moves scheduled 2491, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17857
Sync err accum 80, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:43 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 22247, writes 0 timeouts 0
2025-04-24 10:14:43 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36058/37174
2025-04-24 10:14:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8509, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:43 [info] currentZPosition:0.0259
2025-04-24 10:14:45 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:45 [debug] Diagnostics for board 50:
2025-04-24 10:14:45 [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 10:14:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:50 ago, cause: software
2025-04-24 10:14:45 [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 10:14:45 [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 10:14:45 [debug] Moves scheduled 2495, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 72, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:14:45 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17119, writes 0 timeouts 0
2025-04-24 10:14:45 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36057/37180
2025-04-24 10:14:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:45 [info] currentZPosition:0.0242
2025-04-24 10:14:45 [debug] Stopped at height 0.023 mm
2025-04-24 10:14:47 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:47 [debug] Diagnostics for board 50:
2025-04-24 10:14:47 [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 10:14:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:51 ago, cause: software
2025-04-24 10:14:47 [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 10:14:47 [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 10:14:47 [debug] Moves scheduled 2501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6198, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:47 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 22489, writes 0 timeouts 0
2025-04-24 10:14:47 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35955/37175
2025-04-24 10:14:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8553, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:47 [info] currentZPosition:0.0252
2025-04-24 10:14:47 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:48 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:48 [debug] Diagnostics for board 50:
2025-04-24 10:14:48 [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 10:14:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:53 ago, cause: software
2025-04-24 10:14:48 [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 10:14:48 [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 10:14:48 [debug] Moves scheduled 2507, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:48 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20029, writes 0 timeouts 0
2025-04-24 10:14:48 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36265/37172
2025-04-24 10:14:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:48 [info] currentZPosition:0.0265
2025-04-24 10:14:48 [debug] Stopped at height 0.029 mm
2025-04-24 10:14:49 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:50 [debug] Stopped at height 0.024 mm
2025-04-24 10:14:50 [debug] Diagnostics for board 50:
2025-04-24 10:14:50 [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 10:14:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:55 ago, cause: software
2025-04-24 10:14:50 [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 10:14:50 [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 10:14:50 [debug] Moves scheduled 2515, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=6696, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:50 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 27466, writes 0 timeouts 0
2025-04-24 10:14:50 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 293, adv 35826/37176
2025-04-24 10:14:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:50 [info] currentZPosition:0.0243
2025-04-24 10:14:52 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:52 [debug] Diagnostics for board 50:
2025-04-24 10:14:52 [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 10:14:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:56 ago, cause: software
2025-04-24 10:14:52 [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 10:14:52 [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 10:14:52 [debug] Moves scheduled 2519, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:52 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 15943, writes 0 timeouts 0
2025-04-24 10:14:52 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36408/37178
2025-04-24 10:14:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8503, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:52 [info] currentZPosition:0.0264
2025-04-24 10:14:52 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:53 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:53 [debug] Diagnostics for board 50:
2025-04-24 10:14:53 [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 10:14:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:58 ago, cause: software
2025-04-24 10:14:53 [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 10:14:53 [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 10:14:53 [debug] Moves scheduled 2525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17857
Sync err accum 67, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:53 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 22460, writes 0 timeouts 0
2025-04-24 10:14:53 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35731/37174
2025-04-24 10:14:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8488, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:53 [info] currentZPosition:0.0268
2025-04-24 10:14:55 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:55 [debug] Diagnostics for board 50:
2025-04-24 10:14:55 [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 10:14:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:00 ago, cause: software
2025-04-24 10:14:55 [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 10:14:55 [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 10:14:55 [debug] Moves scheduled 2529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=18292
Sync err accum 67, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935097 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:55 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16596, writes 0 timeouts 0
2025-04-24 10:14:55 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35868/37173
2025-04-24 10:14:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8489, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:55 [info] currentZPosition:0.0267
2025-04-24 10:14:56 [debug] Stopped at height 0.028 mm
2025-04-24 10:14:56 [debug] Diagnostics for board 50:
2025-04-24 10:14:56 [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 10:14:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:01 ago, cause: software
2025-04-24 10:14:56 [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 10:14:56 [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 10:14:56 [debug] Moves scheduled 2533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:56 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 18516, writes 0 timeouts 0
2025-04-24 10:14:56 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36354/37175
2025-04-24 10:14:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8437, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:56 [info] currentZPosition:0.0278
2025-04-24 10:14:58 [debug] Stopped at height 0.026 mm
2025-04-24 10:14:58 [debug] Diagnostics for board 50:
2025-04-24 10:14:58 [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 10:14:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:02 ago, cause: software
2025-04-24 10:14:58 [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 10:14:58 [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 10:14:58 [debug] Moves scheduled 2537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:14:58 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17069, writes 0 timeouts 0
2025-04-24 10:14:58 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36003/37177
2025-04-24 10:14:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8524, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:58 [info] currentZPosition:0.0261
2025-04-24 10:14:58 [debug] Stopped at height 0.025 mm
2025-04-24 10:14:59 [debug] Stopped at height 0.027 mm
2025-04-24 10:14:59 [debug] Diagnostics for board 50:
2025-04-24 10:14:59 [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 10:14:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:04 ago, cause: software
2025-04-24 10:14:59 [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 10:14:59 [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 10:14:59 [debug] Moves scheduled 2543, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 69, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:14:59 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 22633, writes 0 timeouts 0
2025-04-24 10:14:59 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36233/37176
2025-04-24 10:14:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8485, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:14:59 [info] currentZPosition:0.0270
2025-04-24 10:15:00 [debug] Stopped at height 0.026 mm
2025-04-24 10:15:01 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:01 [debug] Diagnostics for board 50:
2025-04-24 10:15:01 [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 10:15:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:17:06 ago, cause: software
2025-04-24 10:15:01 [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 10:15:01 [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 10:15:01 [debug] Moves scheduled 2549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:01 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20492, writes 0 timeouts 0
2025-04-24 10:15:01 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36231/37171
2025-04-24 10:15:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8490, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:01 [info] currentZPosition:0.0270
2025-04-24 10:15:03 [debug] Stopped at height 0.026 mm
2025-04-24 10:15:03 [debug] Diagnostics for board 50:
2025-04-24 10:15:03 [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 10:15:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:07 ago, cause: software
2025-04-24 10:15:03 [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 10:15:03 [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 10:15:03 [debug] Moves scheduled 2553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5681, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:03 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 19004, writes 0 timeouts 0
2025-04-24 10:15:03 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36055/37175
2025-04-24 10:15:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8528, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:03 [info] currentZPosition:0.0263
2025-04-24 10:15:04 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:04 [debug] Diagnostics for board 50:
2025-04-24 10:15:04 [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 10:15:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:17:09 ago, cause: software
2025-04-24 10:15:04 [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 10:15:04 [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 10:15:04 [debug] Moves scheduled 2557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:04 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16328, writes 0 timeouts 0
2025-04-24 10:15:04 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35707/37173
2025-04-24 10:15:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8484, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:04 [info] currentZPosition:0.0271
2025-04-24 10:15:05 [debug] Stopped at height 0.025 mm
2025-04-24 10:15:05 [debug] Diagnostics for board 50:
2025-04-24 10:15:05 [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 10:15:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:10 ago, cause: software
2025-04-24 10:15:05 [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 10:15:05 [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 10:15:05 [debug] Moves scheduled 2561, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294935279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:05 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 19389, writes 0 timeouts 0
2025-04-24 10:15:05 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35907/37174
2025-04-24 10:15:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8580, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:05 [info] currentZPosition:0.0252
2025-04-24 10:15:06 [debug] Stopped at height 0.025 mm
2025-04-24 10:15:07 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:07 [debug] Diagnostics for board 50:
2025-04-24 10:15:07 [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 10:15:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:12 ago, cause: software
2025-04-24 10:15:07 [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 10:15:07 [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 10:15:07 [debug] Moves scheduled 2567, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:07 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 19718, writes 0 timeouts 0
2025-04-24 10:15:07 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35961/37173
2025-04-24 10:15:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8448, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:07 [info] currentZPosition:0.0279
2025-04-24 10:15:07 [debug] Stopped at height 0.025 mm
2025-04-24 10:15:09 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:09 [debug] Diagnostics for board 50:
2025-04-24 10:15:09 [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 10:15:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:14 ago, cause: software
2025-04-24 10:15:09 [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 10:15:09 [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 10:15:09 [debug] Moves scheduled 2573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=522, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:09 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 23067, writes 11 timeouts 1
2025-04-24 10:15:09 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35747/37175
2025-04-24 10:15:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8525, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:09 [info] currentZPosition:0.0265
2025-04-24 10:15:10 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:10 [debug] Diagnostics for board 50:
2025-04-24 10:15:10 [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 10:15:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:15 ago, cause: software
2025-04-24 10:15:10 [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 10:15:10 [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 10:15:10 [debug] Moves scheduled 2577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17857
Sync err accum 71, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:10 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16412, writes 0 timeouts 0
2025-04-24 10:15:10 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36213/37170
2025-04-24 10:15:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8501, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:10 [info] currentZPosition:0.0270
2025-04-24 10:15:12 [debug] Stopped at height 0.026 mm
2025-04-24 10:15:12 [debug] Diagnostics for board 50:
2025-04-24 10:15:12 [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 10:15:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:16 ago, cause: software
2025-04-24 10:15:12 [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 10:15:12 [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 10:15:12 [debug] Moves scheduled 2581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 73, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:12 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 19194, writes 0 timeouts 0
2025-04-24 10:15:12 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36336/37176
2025-04-24 10:15:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8566, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:12 [info] currentZPosition:0.0257
2025-04-24 10:15:12 [debug] Stopped at height 0.026 mm
2025-04-24 10:15:13 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:13 [debug] Diagnostics for board 50:
2025-04-24 10:15:13 [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 10:15:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:18 ago, cause: software
2025-04-24 10:15:13 [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 10:15:13 [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 10:15:13 [debug] Moves scheduled 2587, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
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 4294931368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:13 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20229, writes 0 timeouts 0
2025-04-24 10:15:13 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36379/37176
2025-04-24 10:15:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8531, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:13 [info] currentZPosition:0.0265
2025-04-24 10:15:15 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:15 [debug] Diagnostics for board 50:
2025-04-24 10:15:15 [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 10:15:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:20 ago, cause: software
2025-04-24 10:15:15 [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 10:15:15 [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 10:15:15 [debug] Moves scheduled 2591, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=5905, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:15 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 18481, writes 0 timeouts 0
2025-04-24 10:15:15 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36178/37176
2025-04-24 10:15:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8487, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:15 [info] currentZPosition:0.0274
2025-04-24 10:15:16 [debug] Stopped at height 0.026 mm
2025-04-24 10:15:16 [debug] Diagnostics for board 50:
2025-04-24 10:15:16 [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 10:15:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:17:21 ago, cause: software
2025-04-24 10:15:16 [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 10:15:16 [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 10:15:16 [debug] Moves scheduled 2595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 66, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:16 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17067, writes 0 timeouts 0
2025-04-24 10:15:16 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35901/37172
2025-04-24 10:15:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8578, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:16 [info] currentZPosition:0.0256
2025-04-24 10:15:17 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:18 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:18 [debug] Diagnostics for board 50:
2025-04-24 10:15:18 [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 10:15:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:23 ago, cause: software
2025-04-24 10:15:18 [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 10:15:18 [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 10:15:18 [debug] Moves scheduled 2601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:18 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 22112, writes 0 timeouts 0
2025-04-24 10:15:18 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36033/37174
2025-04-24 10:15:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8490, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:18 [info] currentZPosition:0.0274
2025-04-24 10:15:19 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:19 [debug] Diagnostics for board 50:
2025-04-24 10:15:19 [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 10:15:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:24 ago, cause: software
2025-04-24 10:15:19 [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 10:15:19 [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 10:15:19 [debug] Moves scheduled 2605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:19 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16476, writes 0 timeouts 0
2025-04-24 10:15:19 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36128/37176
2025-04-24 10:15:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8479, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:19 [info] currentZPosition:0.0276
2025-04-24 10:15:21 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:21 [debug] Diagnostics for board 50:
2025-04-24 10:15:21 [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 10:15:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:26 ago, cause: software
2025-04-24 10:15:21 [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 10:15:21 [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 10:15:21 [debug] Moves scheduled 2609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=18292
Sync err accum 65, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:21 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 18668, writes 0 timeouts 0
2025-04-24 10:15:21 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35868/37176
2025-04-24 10:15:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8470, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:21 [info] currentZPosition:0.0278
2025-04-24 10:15:22 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:22 [debug] Diagnostics for board 50:
2025-04-24 10:15:22 [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 10:15:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:27 ago, cause: software
2025-04-24 10:15:22 [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 10:15:22 [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 10:15:22 [debug] Moves scheduled 2613, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 72, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294386746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 10:15:22 [debug] Driver 0: pos -3402, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 27660, writes 0 timeouts 0
2025-04-24 10:15:22 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36339/37176
2025-04-24 10:15:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8507, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:23 [info] currentZPosition:0.0270
2025-04-24 10:15:25 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:25 [debug] Diagnostics for board 50:
2025-04-24 10:15:25 [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 10:15:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:17:30 ago, cause: software
2025-04-24 10:15:25 [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 10:15:25 [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 10:15:25 [debug] Moves scheduled 2617, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5725, max=17857
Sync err accum 80, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:25 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 25792, writes 0 timeouts 0
2025-04-24 10:15:25 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 35717/37177
2025-04-24 10:15:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8517, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:25 [info] currentZPosition:0.0269
2025-04-24 10:15:26 [debug] Stopped at height 0.025 mm
2025-04-24 10:15:26 [debug] Diagnostics for board 50:
2025-04-24 10:15:26 [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 10:15:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:17:31 ago, cause: software
2025-04-24 10:15:26 [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 10:15:26 [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 10:15:26 [debug] Moves scheduled 2621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5813, max=17045
Sync err accum 75, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:26 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17287, writes 0 timeouts 0
2025-04-24 10:15:26 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35851/37173
2025-04-24 10:15:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8637, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:26 [info] currentZPosition:0.0246
2025-04-24 10:15:27 [debug] Stopped at height 0.024 mm
2025-04-24 10:15:28 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:28 [debug] Diagnostics for board 50:
2025-04-24 10:15:28 [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 10:15:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:33 ago, cause: software
2025-04-24 10:15:28 [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 10:15:28 [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 10:15:28 [debug] Moves scheduled 2627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=18292
Sync err accum 68, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:28 [debug] Driver 0: pos -3394, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 21718, writes 0 timeouts 0
2025-04-24 10:15:28 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36328/37176
2025-04-24 10:15:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8473, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:28 [info] currentZPosition:0.0281
2025-04-24 10:15:28 [debug] Stopped at height 0.031 mm
2025-04-24 10:15:29 [debug] Stopped at height 0.024 mm
2025-04-24 10:15:30 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:30 [debug] Diagnostics for board 50:
2025-04-24 10:15:30 [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 10:15:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:35 ago, cause: software
2025-04-24 10:15:30 [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 10:15:30 [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 10:15:30 [debug] Moves scheduled 2635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:30 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 24801, writes 0 timeouts 0
2025-04-24 10:15:30 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36058/37176
2025-04-24 10:15:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8514, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:30 [info] currentZPosition:0.0275
2025-04-24 10:15:31 [debug] Stopped at height 0.025 mm
2025-04-24 10:15:32 [debug] Stopped at height 0.029 mm
2025-04-24 10:15:32 [debug] Diagnostics for board 50:
2025-04-24 10:15:32 [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 10:15:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:37 ago, cause: software
2025-04-24 10:15:32 [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 10:15:32 [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 10:15:32 [debug] Moves scheduled 2641, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:15:32 [debug] Driver 0: pos -3389, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 22309, writes 0 timeouts 0
2025-04-24 10:15:32 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36169/37177
2025-04-24 10:15:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8446, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:32 [info] currentZPosition:0.0289
2025-04-24 10:15:32 [debug] Stopped at height 0.029 mm
2025-04-24 10:15:34 [debug] Stopped at height 0.029 mm
2025-04-24 10:15:34 [debug] Diagnostics for board 50:
2025-04-24 10:15:34 [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 10:15:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:38 ago, cause: software
2025-04-24 10:15:34 [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 10:15:34 [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 10:15:34 [debug] Moves scheduled 2647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:34 [debug] Driver 0: pos -3387, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20430, writes 0 timeouts 0
2025-04-24 10:15:34 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36177/37173
2025-04-24 10:15:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8435, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:34 [info] currentZPosition:0.0292
2025-04-24 10:15:35 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:35 [debug] Diagnostics for board 50:
2025-04-24 10:15:35 [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 10:15:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:40 ago, cause: software
2025-04-24 10:15:35 [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 10:15:35 [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 10:15:35 [debug] Moves scheduled 2651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=509, max=17857
Sync err accum 66, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:35 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 19475, writes 11 timeouts 1
2025-04-24 10:15:35 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36029/37177
2025-04-24 10:15:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8558, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:35 [info] currentZPosition:0.0268
2025-04-24 10:15:36 [debug] Stopped at height 0.025 mm
2025-04-24 10:15:37 [debug] Stopped at height 0.029 mm
2025-04-24 10:15:37 [debug] Diagnostics for board 50:
2025-04-24 10:15:37 [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 10:15:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:42 ago, cause: software
2025-04-24 10:15:37 [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 10:15:37 [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 10:15:37 [debug] Moves scheduled 2657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:37 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20101, writes 0 timeouts 0
2025-04-24 10:15:37 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36279/37173
2025-04-24 10:15:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8462, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:37 [info] currentZPosition:0.0288
2025-04-24 10:15:37 [debug] Stopped at height 0.029 mm
2025-04-24 10:15:39 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:39 [debug] Diagnostics for board 50:
2025-04-24 10:15:39 [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 10:15:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:43 ago, cause: software
2025-04-24 10:15:39 [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 10:15:39 [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 10:15:39 [debug] Moves scheduled 2663, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=18292
Sync err accum 63, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:39 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 23368, writes 0 timeouts 0
2025-04-24 10:15:39 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35881/37173
2025-04-24 10:15:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8586, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:39 [info] currentZPosition:0.0265
2025-04-24 10:15:39 [debug] Stopped at height 0.025 mm
2025-04-24 10:15:40 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:40 [debug] Diagnostics for board 50:
2025-04-24 10:15:40 [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 10:15:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:45 ago, cause: software
2025-04-24 10:15:40 [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 10:15:40 [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 10:15:40 [debug] Moves scheduled 2669, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:40 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20402, writes 0 timeouts 0
2025-04-24 10:15:40 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 35738/37175
2025-04-24 10:15:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8535, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:40 [info] currentZPosition:0.0275
2025-04-24 10:15:41 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:42 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:42 [debug] Diagnostics for board 50:
2025-04-24 10:15:42 [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 10:15:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:47 ago, cause: software
2025-04-24 10:15:42 [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 10:15:42 [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 10:15:42 [debug] Moves scheduled 2675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 81, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:42 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 22506, writes 0 timeouts 0
2025-04-24 10:15:42 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35736/37175
2025-04-24 10:15:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8539, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:42 [info] currentZPosition:0.0276
2025-04-24 10:15:43 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:43 [debug] Diagnostics for board 50:
2025-04-24 10:15:43 [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 10:15:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:48 ago, cause: software
2025-04-24 10:15:43 [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 10:15:43 [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 10:15:43 [debug] Moves scheduled 2679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 82, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:43 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16830, writes 0 timeouts 0
2025-04-24 10:15:43 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35982/37176
2025-04-24 10:15:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:43 [info] currentZPosition:0.0270
2025-04-24 10:15:45 [debug] Stopped at height 0.029 mm
2025-04-24 10:15:45 [debug] Diagnostics for board 50:
2025-04-24 10:15:45 [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 10:15:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:50 ago, cause: software
2025-04-24 10:15:45 [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 10:15:45 [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 10:15:45 [debug] Moves scheduled 2683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 77, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:45 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 18232, writes 0 timeouts 0
2025-04-24 10:15:45 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36329/37174
2025-04-24 10:15:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8482, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4566, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:45 [info] currentZPosition:0.0287
2025-04-24 10:15:45 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:46 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:46 [debug] Diagnostics for board 50:
2025-04-24 10:15:46 [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 10:15:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:51 ago, cause: software
2025-04-24 10:15:46 [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 10:15:46 [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 10:15:46 [debug] Moves scheduled 2689, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 69, peak jitter -1/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:46 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20717, writes 0 timeouts 0
2025-04-24 10:15:46 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36171/37177
2025-04-24 10:15:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8531, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:47 [info] currentZPosition:0.0278
2025-04-24 10:15:48 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:48 [debug] Diagnostics for board 50:
2025-04-24 10:15:48 [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 10:15:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:53 ago, cause: software
2025-04-24 10:15:48 [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 10:15:48 [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 10:15:48 [debug] Moves scheduled 2693, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=512, max=17045
Sync err accum 63, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:48 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 18650, writes 11 timeouts 1
2025-04-24 10:15:48 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36184/37175
2025-04-24 10:15:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8523, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:48 [info] currentZPosition:0.0280
2025-04-24 10:15:49 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:49 [debug] Diagnostics for board 50:
2025-04-24 10:15:49 [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 10:15:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:54 ago, cause: software
2025-04-24 10:15:49 [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 10:15:49 [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 10:15:49 [debug] Moves scheduled 2697, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=18292
Sync err accum 72, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:49 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16492, writes 0 timeouts 0
2025-04-24 10:15:49 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36378/37172
2025-04-24 10:15:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8500, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:49 [info] currentZPosition:0.0284
2025-04-24 10:15:51 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:51 [debug] Diagnostics for board 50:
2025-04-24 10:15:51 [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 10:15:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:56 ago, cause: software
2025-04-24 10:15:51 [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 10:15:51 [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 10:15:51 [debug] Moves scheduled 2701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:51 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 18805, writes 0 timeouts 0
2025-04-24 10:15:51 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36024/37175
2025-04-24 10:15:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8518, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:51 [info] currentZPosition:0.0282
2025-04-24 10:15:52 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:52 [debug] Diagnostics for board 50:
2025-04-24 10:15:52 [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 10:15:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:57 ago, cause: software
2025-04-24 10:15:52 [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 10:15:52 [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 10:15:52 [debug] Moves scheduled 2705, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:15:52 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17130, writes 0 timeouts 0
2025-04-24 10:15:52 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35835/37172
2025-04-24 10:15:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:52 [info] currentZPosition:0.0266
2025-04-24 10:15:53 [debug] Stopped at height 0.026 mm
2025-04-24 10:15:54 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:54 [debug] Diagnostics for board 50:
2025-04-24 10:15:54 [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 10:15:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:59 ago, cause: software
2025-04-24 10:15:54 [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 10:15:54 [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 10:15:54 [debug] Moves scheduled 2711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 98, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:54 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 22397, writes 0 timeouts 0
2025-04-24 10:15:54 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35880/37174
2025-04-24 10:15:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8555, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:54 [info] currentZPosition:0.0276
2025-04-24 10:15:54 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:56 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:56 [debug] Diagnostics for board 50:
2025-04-24 10:15:56 [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 10:15:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:18:00 ago, cause: software
2025-04-24 10:15:56 [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 10:15:56 [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 10:15:56 [debug] Moves scheduled 2717, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 98, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:15:56 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20425, writes 0 timeouts 0
2025-04-24 10:15:56 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 292, adv 36033/37171
2025-04-24 10:15:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8546, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:56 [info] currentZPosition:0.0279
2025-04-24 10:15:57 [debug] Stopped at height 0.030 mm
2025-04-24 10:15:57 [debug] Diagnostics for board 50:
2025-04-24 10:15:57 [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 10:15:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:02 ago, cause: software
2025-04-24 10:15:57 [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 10:15:57 [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 10:15:57 [debug] Moves scheduled 2721, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 95, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:57 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 18187, writes 0 timeouts 0
2025-04-24 10:15:57 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35734/37175
2025-04-24 10:15:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8461, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:57 [info] currentZPosition:0.0296
2025-04-24 10:15:57 [debug] Stopped at height 0.028 mm
2025-04-24 10:15:59 [debug] Stopped at height 0.027 mm
2025-04-24 10:15:59 [debug] Diagnostics for board 50:
2025-04-24 10:15:59 [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 10:15:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:04 ago, cause: software
2025-04-24 10:15:59 [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 10:15:59 [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 10:15:59 [debug] Moves scheduled 2727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6944, max=17045
Sync err accum 84, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:15:59 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 21194, writes 0 timeouts 0
2025-04-24 10:15:59 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36240/37179
2025-04-24 10:15:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8578, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:15:59 [info] currentZPosition:0.0274
2025-04-24 10:16:00 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:00 [debug] Diagnostics for board 50:
2025-04-24 10:16:00 [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 10:16:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:05 ago, cause: software
2025-04-24 10:16:00 [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 10:16:00 [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 10:16:00 [debug] Moves scheduled 2731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 74, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:16:00 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 18371, writes 0 timeouts 0
2025-04-24 10:16:00 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36354/37179
2025-04-24 10:16:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8515, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:00 [info] currentZPosition:0.0286
2025-04-24 10:16:02 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:02 [debug] Diagnostics for board 50:
2025-04-24 10:16:02 [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 10:16:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:06 ago, cause: software
2025-04-24 10:16:02 [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 10:16:02 [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 10:16:02 [debug] Moves scheduled 2735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6696, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:16:02 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16534, writes 0 timeouts 0
2025-04-24 10:16:02 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35722/37178
2025-04-24 10:16:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8491, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:02 [info] currentZPosition:0.0291
2025-04-24 10:16:03 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:03 [debug] Diagnostics for board 50:
2025-04-24 10:16:03 [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 10:16:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:08 ago, cause: software
2025-04-24 10:16:03 [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 10:16:03 [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 10:16:03 [debug] Moves scheduled 2739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 68, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:16:03 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 19099, writes 0 timeouts 0
2025-04-24 10:16:03 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36208/37175
2025-04-24 10:16:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8557, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:03 [info] currentZPosition:0.0278
2025-04-24 10:16:04 [debug] Stopped at height 0.027 mm
2025-04-24 10:16:05 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:05 [debug] Diagnostics for board 50:
2025-04-24 10:16:05 [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 10:16:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:10 ago, cause: software
2025-04-24 10:16:05 [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 10:16:05 [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 10:16:05 [debug] Moves scheduled 2745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:05 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20712, writes 0 timeouts 0
2025-04-24 10:16:05 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35926/37173
2025-04-24 10:16:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8561, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:05 [info] currentZPosition:0.0278
2025-04-24 10:16:06 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:06 [debug] Diagnostics for board 50:
2025-04-24 10:16:06 [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 10:16:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:11 ago, cause: software
2025-04-24 10:16:06 [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 10:16:06 [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 10:16:06 [debug] Moves scheduled 2749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:06 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 18621, writes 0 timeouts 0
2025-04-24 10:16:06 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36056/37173
2025-04-24 10:16:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8550, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:06 [info] currentZPosition:0.0280
2025-04-24 10:16:08 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:08 [debug] Diagnostics for board 50:
2025-04-24 10:16:08 [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 10:16:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:12 ago, cause: software
2025-04-24 10:16:08 [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 10:16:08 [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 10:16:08 [debug] Moves scheduled 2753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:08 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16690, writes 0 timeouts 0
2025-04-24 10:16:08 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36130/37174
2025-04-24 10:16:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8564, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:08 [info] currentZPosition:0.0278
2025-04-24 10:16:09 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:09 [debug] Diagnostics for board 50:
2025-04-24 10:16:09 [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 10:16:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:14 ago, cause: software
2025-04-24 10:16:09 [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 10:16:09 [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 10:16:09 [debug] Moves scheduled 2757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 70, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:09 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 18195, writes 0 timeouts 0
2025-04-24 10:16:09 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35906/37173
2025-04-24 10:16:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8478, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:09 [info] currentZPosition:0.0294
2025-04-24 10:16:09 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:11 [debug] Stopped at height 0.027 mm
2025-04-24 10:16:11 [debug] Diagnostics for board 50:
2025-04-24 10:16:11 [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 10:16:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:16 ago, cause: software
2025-04-24 10:16:11 [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 10:16:11 [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 10:16:11 [debug] Moves scheduled 2763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17857
Sync err accum 68, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:11 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 21240, writes 0 timeouts 0
2025-04-24 10:16:11 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36291/37171
2025-04-24 10:16:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8609, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:11 [info] currentZPosition:0.0270
2025-04-24 10:16:11 [debug] Stopped at height 0.023 mm
2025-04-24 10:16:11 [debug] Stopped at height 0.025 mm
2025-04-24 10:16:12 [debug] Stopped at height 0.023 mm
2025-04-24 10:16:12 [debug] Stopped at height 0.023 mm
2025-04-24 10:16:13 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:13 [debug] Diagnostics for board 50:
2025-04-24 10:16:13 [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 10:16:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:18 ago, cause: software
2025-04-24 10:16:13 [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 10:16:13 [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 10:16:13 [debug] Moves scheduled 2775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:13 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 34160, writes 0 timeouts 0
2025-04-24 10:16:13 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35782/37177
2025-04-24 10:16:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8504, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:14 [info] currentZPosition:0.0294
2025-04-24 10:16:14 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:15 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:15 [debug] Diagnostics for board 50:
2025-04-24 10:16:15 [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 10:16:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:20 ago, cause: software
2025-04-24 10:16:15 [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 10:16:15 [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 10:16:15 [debug] Moves scheduled 2781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 76, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:15 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 21123, writes 0 timeouts 0
2025-04-24 10:16:15 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35752/37172
2025-04-24 10:16:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:15 [info] currentZPosition:0.0276
2025-04-24 10:16:15 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:17 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:17 [debug] Diagnostics for board 50:
2025-04-24 10:16:17 [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 10:16:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:22 ago, cause: software
2025-04-24 10:16:17 [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 10:16:17 [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 10:16:17 [debug] Moves scheduled 2787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:17 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 22132, writes 0 timeouts 0
2025-04-24 10:16:17 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36376/37174
2025-04-24 10:16:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8533, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:17 [info] currentZPosition:0.0291
2025-04-24 10:16:18 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:18 [debug] Diagnostics for board 50:
2025-04-24 10:16:18 [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 10:16:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:23 ago, cause: software
2025-04-24 10:16:18 [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 10:16:18 [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 10:16:18 [debug] Moves scheduled 2791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 80, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:18 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16342, writes 0 timeouts 0
2025-04-24 10:16:18 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35974/37178
2025-04-24 10:16:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8482, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:18 [info] currentZPosition:0.0301
2025-04-24 10:16:20 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:20 [debug] Diagnostics for board 50:
2025-04-24 10:16:20 [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 10:16:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:25 ago, cause: software
2025-04-24 10:16:20 [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 10:16:20 [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 10:16:20 [debug] Moves scheduled 2795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6637, max=18292
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:16:20 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 19100, writes 0 timeouts 0
2025-04-24 10:16:20 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36255/37174
2025-04-24 10:16:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:20 [info] currentZPosition:0.0288
2025-04-24 10:16:20 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:21 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:21 [debug] Diagnostics for board 50:
2025-04-24 10:16:21 [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 10:16:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:26 ago, cause: software
2025-04-24 10:16:21 [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 10:16:21 [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 10:16:21 [debug] Moves scheduled 2801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 75, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:21 [debug] Driver 0: pos -3390, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 19985, writes 0 timeouts 0
2025-04-24 10:16:21 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 293, adv 36159/37176
2025-04-24 10:16:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8453, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:21 [info] currentZPosition:0.0308
2025-04-24 10:16:22 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:23 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:23 [debug] Diagnostics for board 50:
2025-04-24 10:16:23 [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 10:16:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:28 ago, cause: software
2025-04-24 10:16:23 [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 10:16:23 [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 10:16:23 [debug] Moves scheduled 2807, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17857
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:16:23 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 22726, writes 0 timeouts 0
2025-04-24 10:16:23 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36102/37177
2025-04-24 10:16:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8483, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:23 [info] currentZPosition:0.0302
2025-04-24 10:16:24 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:25 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:25 [debug] Diagnostics for board 50:
2025-04-24 10:16:25 [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 10:16:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:30 ago, cause: software
2025-04-24 10:16:25 [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 10:16:25 [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 10:16:25 [debug] Moves scheduled 2813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:16:25 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20597, writes 0 timeouts 0
2025-04-24 10:16:25 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36352/37176
2025-04-24 10:16:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8505, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:25 [info] currentZPosition:0.0299
2025-04-24 10:16:26 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:26 [debug] Diagnostics for board 50:
2025-04-24 10:16:26 [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 10:16:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:31 ago, cause: software
2025-04-24 10:16:26 [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 10:16:26 [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 10:16:26 [debug] Moves scheduled 2817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6147, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:16:26 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 19231, writes 0 timeouts 0
2025-04-24 10:16:26 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35982/37174
2025-04-24 10:16:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8597, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:26 [info] currentZPosition:0.0281
2025-04-24 10:16:27 [debug] Stopped at height 0.027 mm
2025-04-24 10:16:28 [debug] Stopped at height 0.027 mm
2025-04-24 10:16:28 [debug] Diagnostics for board 50:
2025-04-24 10:16:28 [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 10:16:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:33 ago, cause: software
2025-04-24 10:16:28 [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 10:16:28 [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 10:16:28 [debug] Moves scheduled 2823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 80, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:28 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 20940, writes 0 timeouts 0
2025-04-24 10:16:28 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 35801/37176
2025-04-24 10:16:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8647, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:28 [info] currentZPosition:0.0273
2025-04-24 10:16:29 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:29 [debug] Diagnostics for board 50:
2025-04-24 10:16:29 [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 10:16:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:18:34 ago, cause: software
2025-04-24 10:16:29 [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 10:16:29 [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 10:16:29 [debug] Moves scheduled 2827, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6696, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:16:29 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17825, writes 0 timeouts 0
2025-04-24 10:16:29 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35826/37174
2025-04-24 10:16:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8502, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:30 [info] currentZPosition:0.0301
2025-04-24 10:16:30 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:31 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:31 [debug] Diagnostics for board 50:
2025-04-24 10:16:31 [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 10:16:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:36 ago, cause: software
2025-04-24 10:16:31 [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 10:16:31 [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 10:16:31 [debug] Moves scheduled 2833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17441
Sync err accum 66, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:31 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20858, writes 0 timeouts 0
2025-04-24 10:16:31 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36007/37178
2025-04-24 10:16:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8566, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:31 [info] currentZPosition:0.0289
2025-04-24 10:16:33 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:33 [debug] Diagnostics for board 50:
2025-04-24 10:16:33 [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 10:16:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:37 ago, cause: software
2025-04-24 10:16:33 [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 10:16:33 [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 10:16:33 [debug] Moves scheduled 2837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17857
Sync err accum 64, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:33 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 18184, writes 0 timeouts 0
2025-04-24 10:16:33 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35675/37175
2025-04-24 10:16:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8488, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:33 [info] currentZPosition:0.0304
2025-04-24 10:16:33 [debug] Stopped at height 0.027 mm
2025-04-24 10:16:33 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:35 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:35 [debug] Diagnostics for board 50:
2025-04-24 10:16:35 [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 10:16:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:39 ago, cause: software
2025-04-24 10:16:35 [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 10:16:35 [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 10:16:35 [debug] Moves scheduled 2845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6521, max=17045
Sync err accum 74, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:35 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 24994, writes 0 timeouts 0
2025-04-24 10:16:35 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 294, adv 36337/37174
2025-04-24 10:16:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8568, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:35 [info] currentZPosition:0.0291
2025-04-24 10:16:36 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:36 [debug] Diagnostics for board 50:
2025-04-24 10:16:36 [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 10:16:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:41 ago, cause: software
2025-04-24 10:16:36 [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 10:16:36 [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 10:16:36 [debug] Moves scheduled 2849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 77, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:36 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 18393, writes 0 timeouts 0
2025-04-24 10:16:36 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36307/37175
2025-04-24 10:16:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8519, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:36 [info] currentZPosition:0.0301
2025-04-24 10:16:37 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:37 [debug] Diagnostics for board 50:
2025-04-24 10:16:37 [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 10:16:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:42 ago, cause: software
2025-04-24 10:16:37 [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 10:16:37 [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 10:16:37 [debug] Moves scheduled 2853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:16:37 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17034, writes 0 timeouts 0
2025-04-24 10:16:37 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36000/37175
2025-04-24 10:16:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8595, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:37 [info] currentZPosition:0.0286
2025-04-24 10:16:38 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:39 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:39 [debug] Diagnostics for board 50:
2025-04-24 10:16:39 [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 10:16:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:44 ago, cause: software
2025-04-24 10:16:39 [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 10:16:39 [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 10:16:39 [debug] Moves scheduled 2859, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 67, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:39 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 22262, writes 0 timeouts 0
2025-04-24 10:16:39 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37176
2025-04-24 10:16:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8521, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:39 [info] currentZPosition:0.0301
2025-04-24 10:16:40 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:41 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:41 [debug] Diagnostics for board 50:
2025-04-24 10:16:41 [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 10:16:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:46 ago, cause: software
2025-04-24 10:16:41 [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 10:16:41 [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 10:16:41 [debug] Moves scheduled 2865, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=495, max=17045
Sync err accum 65, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:16:41 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20622, writes 11 timeouts 1
2025-04-24 10:16:41 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36173/37177
2025-04-24 10:16:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8563, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:41 [info] currentZPosition:0.0295
2025-04-24 10:16:41 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:43 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:43 [debug] Diagnostics for board 50:
2025-04-24 10:16:43 [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 10:16:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:47 ago, cause: software
2025-04-24 10:16:43 [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 10:16:43 [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 10:16:43 [debug] Moves scheduled 2871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=88, frequency (Hz): min=6250, max=18292
Sync err accum 74, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:16:43 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21974, writes 0 timeouts 0
2025-04-24 10:16:43 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36007/37172
2025-04-24 10:16:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8478, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:43 [info] currentZPosition:0.0313
2025-04-24 10:16:43 [debug] Stopped at height 0.033 mm
2025-04-24 10:16:43 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:44 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:45 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:45 [debug] Diagnostics for board 50:
2025-04-24 10:16:45 [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 10:16:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:50 ago, cause: software
2025-04-24 10:16:45 [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 10:16:45 [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 10:16:45 [debug] Moves scheduled 2881, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=108, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:45 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 28849, writes 0 timeouts 0
2025-04-24 10:16:45 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 291, adv 36378/37176
2025-04-24 10:16:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8511, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:45 [info] currentZPosition:0.0309
2025-04-24 10:16:46 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:46 [debug] Diagnostics for board 50:
2025-04-24 10:16:46 [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 10:16:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:51 ago, cause: software
2025-04-24 10:16:46 [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 10:16:46 [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 10:16:46 [debug] Moves scheduled 2885, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 82, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:46 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 18926, writes 0 timeouts 0
2025-04-24 10:16:46 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35880/37173
2025-04-24 10:16:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8555, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:47 [info] currentZPosition:0.0300
2025-04-24 10:16:48 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:48 [debug] Diagnostics for board 50:
2025-04-24 10:16:48 [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 10:16:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:53 ago, cause: software
2025-04-24 10:16:48 [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 10:16:48 [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 10:16:48 [debug] Moves scheduled 2889, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:48 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16404, writes 0 timeouts 0
2025-04-24 10:16:48 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35828/37179
2025-04-24 10:16:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8527, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:48 [info] currentZPosition:0.0306
2025-04-24 10:16:49 [debug] Stopped at height 0.028 mm
2025-04-24 10:16:49 [debug] Diagnostics for board 50:
2025-04-24 10:16:49 [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 10:16:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:54 ago, cause: software
2025-04-24 10:16:49 [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 10:16:49 [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 10:16:49 [debug] Moves scheduled 2893, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 70, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:49 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 19365, writes 0 timeouts 0
2025-04-24 10:16:49 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 35730/37178
2025-04-24 10:16:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8649, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:49 [info] currentZPosition:0.0282
2025-04-24 10:16:50 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:51 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:51 [debug] Diagnostics for board 50:
2025-04-24 10:16:51 [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 10:16:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:56 ago, cause: software
2025-04-24 10:16:51 [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 10:16:51 [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 10:16:51 [debug] Moves scheduled 2899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5813, max=17045
Sync err accum 60, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:51 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20383, writes 0 timeouts 0
2025-04-24 10:16:51 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36041/37176
2025-04-24 10:16:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:51 [info] currentZPosition:0.0286
2025-04-24 10:16:51 [debug] Stopped at height 0.029 mm
2025-04-24 10:16:53 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:53 [debug] Diagnostics for board 50:
2025-04-24 10:16:53 [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 10:16:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:57 ago, cause: software
2025-04-24 10:16:53 [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 10:16:53 [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 10:16:53 [debug] Moves scheduled 2905, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 82, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:53 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 22017, writes 0 timeouts 0
2025-04-24 10:16:53 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36332/37173
2025-04-24 10:16:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8555, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:53 [info] currentZPosition:0.0302
2025-04-24 10:16:54 [debug] Stopped at height 0.030 mm
2025-04-24 10:16:54 [debug] Diagnostics for board 50:
2025-04-24 10:16:54 [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 10:16:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:59 ago, cause: software
2025-04-24 10:16:54 [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 10:16:54 [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 10:16:54 [debug] Moves scheduled 2909, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6355, max=17045
Sync err accum 97, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:54 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16541, writes 0 timeouts 0
2025-04-24 10:16:54 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36210/37168
2025-04-24 10:16:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8547, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:54 [info] currentZPosition:0.0304
2025-04-24 10:16:55 [debug] Stopped at height 0.032 mm
2025-04-24 10:16:55 [debug] Diagnostics for board 50:
2025-04-24 10:16:55 [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 10:16:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:00 ago, cause: software
2025-04-24 10:16:55 [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 10:16:55 [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 10:16:55 [debug] Moves scheduled 2913, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 107, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934787 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:55 [debug] Driver 0: pos -3396, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 18212, writes 0 timeouts 0
2025-04-24 10:16:55 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36205/37174
2025-04-24 10:16:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8480, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:56 [info] currentZPosition:0.0317
2025-04-24 10:16:56 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:57 [debug] Stopped at height 0.032 mm
2025-04-24 10:16:57 [debug] Diagnostics for board 50:
2025-04-24 10:16:57 [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 10:16:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:02 ago, cause: software
2025-04-24 10:16:57 [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 10:16:57 [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 10:16:57 [debug] Moves scheduled 2919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 115, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:57 [debug] Driver 0: pos -3392, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20294, writes 0 timeouts 0
2025-04-24 10:16:57 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35695/37174
2025-04-24 10:16:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8460, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 792
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:57 [info] currentZPosition:0.0322
2025-04-24 10:16:58 [debug] Stopped at height 0.032 mm
2025-04-24 10:16:59 [debug] Stopped at height 0.031 mm
2025-04-24 10:16:59 [debug] Diagnostics for board 50:
2025-04-24 10:16:59 [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 10:16:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:04 ago, cause: software
2025-04-24 10:16:59 [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 10:16:59 [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 10:16:59 [debug] Moves scheduled 2925, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 120, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:16:59 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 22759, writes 0 timeouts 0
2025-04-24 10:16:59 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36055/37175
2025-04-24 10:16:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8505, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:16:59 [info] currentZPosition:0.0314
2025-04-24 10:17:00 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:00 [debug] Diagnostics for board 50:
2025-04-24 10:17:00 [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 10:17:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:05 ago, cause: software
2025-04-24 10:17:00 [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 10:17:00 [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 10:17:00 [debug] Moves scheduled 2929, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17857
Sync err accum 122, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:00 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16707, writes 0 timeouts 0
2025-04-24 10:17:00 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35870/37177
2025-04-24 10:17:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8529, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:00 [info] currentZPosition:0.0310
2025-04-24 10:17:02 [debug] Stopped at height 0.029 mm
2025-04-24 10:17:02 [debug] Diagnostics for board 50:
2025-04-24 10:17:02 [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 10:17:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:07 ago, cause: software
2025-04-24 10:17:02 [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 10:17:02 [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 10:17:02 [debug] Moves scheduled 2933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 119, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:02 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 19085, writes 0 timeouts 0
2025-04-24 10:17:02 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35900/37176
2025-04-24 10:17:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8610, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:02 [info] currentZPosition:0.0294
2025-04-24 10:17:02 [debug] Stopped at height 0.028 mm
2025-04-24 10:17:02 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:04 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:04 [debug] Diagnostics for board 50:
2025-04-24 10:17:04 [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 10:17:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:08 ago, cause: software
2025-04-24 10:17:04 [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 10:17:04 [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 10:17:04 [debug] Moves scheduled 2941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17441
Sync err accum 105, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:17:04 [debug] Driver 0: pos -3398, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 23838, writes 0 timeouts 0
2025-04-24 10:17:04 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36079/37178
2025-04-24 10:17:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8489, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:04 [info] currentZPosition:0.0321
2025-04-24 10:17:04 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:06 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:06 [debug] Diagnostics for board 50:
2025-04-24 10:17:06 [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 10:17:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:10 ago, cause: software
2025-04-24 10:17:06 [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 10:17:06 [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 10:17:06 [debug] Moves scheduled 2947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 89, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:06 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 22791, writes 0 timeouts 0
2025-04-24 10:17:06 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35760/37176
2025-04-24 10:17:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:06 [info] currentZPosition:0.0312
2025-04-24 10:17:06 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:07 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:07 [debug] Diagnostics for board 50:
2025-04-24 10:17:07 [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 10:17:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:19:12 ago, cause: software
2025-04-24 10:17:07 [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 10:17:07 [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 10:17:07 [debug] Moves scheduled 2953, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:17:07 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20446, writes 0 timeouts 0
2025-04-24 10:17:07 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 292, adv 36287/37178
2025-04-24 10:17:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8535, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:07 [info] currentZPosition:0.0314
2025-04-24 10:17:09 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:09 [debug] Diagnostics for board 50:
2025-04-24 10:17:09 [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 10:17:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:13 ago, cause: software
2025-04-24 10:17:09 [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 10:17:09 [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 10:17:09 [debug] Moves scheduled 2957, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 60, peak jitter -3/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:09 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 18425, writes 0 timeouts 0
2025-04-24 10:17:09 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36370/37179
2025-04-24 10:17:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8499, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:09 [info] currentZPosition:0.0321
2025-04-24 10:17:10 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:10 [debug] Diagnostics for board 50:
2025-04-24 10:17:10 [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 10:17:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:15 ago, cause: software
2025-04-24 10:17:10 [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 10:17:10 [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 10:17:10 [debug] Moves scheduled 2961, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 75, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:10 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16845, writes 0 timeouts 0
2025-04-24 10:17:10 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35720/37172
2025-04-24 10:17:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8536, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:10 [info] currentZPosition:0.0314
2025-04-24 10:17:11 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:11 [debug] Diagnostics for board 50:
2025-04-24 10:17:11 [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 10:17:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:16 ago, cause: software
2025-04-24 10:17:11 [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 10:17:11 [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 10:17:11 [debug] Moves scheduled 2965, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6756, max=18292
Sync err accum 91, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:17:11 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 18658, writes 0 timeouts 0
2025-04-24 10:17:11 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36232/37172
2025-04-24 10:17:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8547, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:12 [info] currentZPosition:0.0312
2025-04-24 10:17:13 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:13 [debug] Diagnostics for board 50:
2025-04-24 10:17:13 [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 10:17:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:18 ago, cause: software
2025-04-24 10:17:13 [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 10:17:13 [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 10:17:13 [debug] Moves scheduled 2969, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 100, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:13 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16811, writes 0 timeouts 0
2025-04-24 10:17:13 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35951/37175
2025-04-24 10:17:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8579, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:13 [info] currentZPosition:0.0306
2025-04-24 10:17:14 [debug] Stopped at height 0.034 mm
2025-04-24 10:17:14 [debug] Diagnostics for board 50:
2025-04-24 10:17:14 [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 10:17:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:19 ago, cause: software
2025-04-24 10:17:14 [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 10:17:14 [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 10:17:14 [debug] Moves scheduled 2973, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:14 [debug] Driver 0: pos -3384, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17672, writes 0 timeouts 0
2025-04-24 10:17:14 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36078/37174
2025-04-24 10:17:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 792
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8421, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:14 [info] currentZPosition:0.0337
2025-04-24 10:17:15 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:16 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:16 [debug] Diagnostics for board 50:
2025-04-24 10:17:16 [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 10:17:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:21 ago, cause: software
2025-04-24 10:17:16 [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 10:17:16 [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 10:17:16 [debug] Moves scheduled 2979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 114, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:16 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 21287, writes 0 timeouts 0
2025-04-24 10:17:16 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36119/37177
2025-04-24 10:17:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8520, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:16 [info] currentZPosition:0.0318
2025-04-24 10:17:17 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:17 [debug] Diagnostics for board 50:
2025-04-24 10:17:17 [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 10:17:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:22 ago, cause: software
2025-04-24 10:17:17 [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 10:17:17 [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 10:17:17 [debug] Moves scheduled 2983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 117, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:17 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 19056, writes 0 timeouts 0
2025-04-24 10:17:17 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35928/37176
2025-04-24 10:17:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8601, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:18 [info] currentZPosition:0.0303
2025-04-24 10:17:18 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:19 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:19 [debug] Diagnostics for board 50:
2025-04-24 10:17:19 [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 10:17:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:24 ago, cause: software
2025-04-24 10:17:19 [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 10:17:19 [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 10:17:19 [debug] Moves scheduled 2989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 115, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:19 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20333, writes 0 timeouts 0
2025-04-24 10:17:19 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36335/37176
2025-04-24 10:17:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8553, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:19 [info] currentZPosition:0.0313
2025-04-24 10:17:19 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:21 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:21 [debug] Diagnostics for board 50:
2025-04-24 10:17:21 [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 10:17:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:26 ago, cause: software
2025-04-24 10:17:21 [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 10:17:21 [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 10:17:21 [debug] Moves scheduled 2995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 106, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:21 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 22386, writes 0 timeouts 0
2025-04-24 10:17:21 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35780/37177
2025-04-24 10:17:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8561, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:21 [info] currentZPosition:0.0312
2025-04-24 10:17:22 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:22 [debug] Diagnostics for board 50:
2025-04-24 10:17:22 [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 10:17:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:27 ago, cause: software
2025-04-24 10:17:22 [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 10:17:22 [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 10:17:22 [debug] Moves scheduled 2999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 96, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:22 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16935, writes 0 timeouts 0
2025-04-24 10:17:22 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35802/37177
2025-04-24 10:17:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8614, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:22 [info] currentZPosition:0.0302
2025-04-24 10:17:24 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:24 [debug] Diagnostics for board 50:
2025-04-24 10:17:24 [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 10:17:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:28 ago, cause: software
2025-04-24 10:17:24 [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 10:17:24 [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 10:17:24 [debug] Moves scheduled 3003, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 83, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:24 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17913, writes 0 timeouts 0
2025-04-24 10:17:24 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36377/37177
2025-04-24 10:17:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8501, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:24 [info] currentZPosition:0.0324
2025-04-24 10:17:24 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:25 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:25 [debug] Diagnostics for board 50:
2025-04-24 10:17:25 [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 10:17:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:30 ago, cause: software
2025-04-24 10:17:25 [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 10:17:25 [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 10:17:25 [debug] Moves scheduled 3009, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=571, max=17045
Sync err accum 66, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:25 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20348, writes 11 timeouts 1
2025-04-24 10:17:25 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 35971/37178
2025-04-24 10:17:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8501, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:25 [info] currentZPosition:0.0325
2025-04-24 10:17:26 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:27 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:27 [debug] Diagnostics for board 50:
2025-04-24 10:17:27 [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 10:17:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:32 ago, cause: software
2025-04-24 10:17:27 [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 10:17:27 [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 10:17:27 [debug] Moves scheduled 3015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 72, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:27 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 22327, writes 0 timeouts 0
2025-04-24 10:17:27 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36255/37177
2025-04-24 10:17:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8486, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:27 [info] currentZPosition:0.0329
2025-04-24 10:17:27 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:29 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:29 [debug] Diagnostics for board 50:
2025-04-24 10:17:29 [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 10:17:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:34 ago, cause: software
2025-04-24 10:17:29 [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 10:17:29 [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 10:17:29 [debug] Moves scheduled 3021, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 78, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:17:29 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20722, writes 0 timeouts 0
2025-04-24 10:17:29 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36211/37177
2025-04-24 10:17:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8520, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:29 [info] currentZPosition:0.0324
2025-04-24 10:17:30 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:30 [debug] Diagnostics for board 50:
2025-04-24 10:17:30 [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 10:17:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:35 ago, cause: software
2025-04-24 10:17:30 [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 10:17:30 [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 10:17:30 [debug] Moves scheduled 3025, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:30 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 18530, writes 0 timeouts 0
2025-04-24 10:17:30 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37174
2025-04-24 10:17:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8515, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:30 [info] currentZPosition:0.0325
2025-04-24 10:17:32 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:32 [debug] Diagnostics for board 50:
2025-04-24 10:17:32 [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 10:17:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:36 ago, cause: software
2025-04-24 10:17:32 [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 10:17:32 [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 10:17:32 [debug] Moves scheduled 3029, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17857
Sync err accum 90, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:32 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16631, writes 0 timeouts 0
2025-04-24 10:17:32 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35679/37175
2025-04-24 10:17:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8517, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:32 [info] currentZPosition:0.0325
2025-04-24 10:17:33 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:33 [debug] Diagnostics for board 50:
2025-04-24 10:17:33 [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 10:17:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:38 ago, cause: software
2025-04-24 10:17:33 [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 10:17:33 [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 10:17:33 [debug] Moves scheduled 3033, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17857
Sync err accum 90, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:33 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 18362, writes 0 timeouts 0
2025-04-24 10:17:33 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35955/37176
2025-04-24 10:17:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8486, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:33 [info] currentZPosition:0.0331
2025-04-24 10:17:34 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:34 [debug] Diagnostics for board 50:
2025-04-24 10:17:34 [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 10:17:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:39 ago, cause: software
2025-04-24 10:17:34 [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 10:17:34 [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 10:17:34 [debug] Moves scheduled 3037, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 88, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294935266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 10:17:34 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17047, writes 0 timeouts 0
2025-04-24 10:17:34 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36372/37175
2025-04-24 10:17:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8556, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:34 [info] currentZPosition:0.0317
2025-04-24 10:17:35 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:36 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:36 [debug] Diagnostics for board 50:
2025-04-24 10:17:36 [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 10:17:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:41 ago, cause: software
2025-04-24 10:17:36 [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 10:17:36 [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 10:17:36 [debug] Moves scheduled 3043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6355, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:36 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 22163, writes 0 timeouts 0
2025-04-24 10:17:36 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35809/37175
2025-04-24 10:17:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8517, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:36 [info] currentZPosition:0.0326
2025-04-24 10:17:38 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:38 [debug] Diagnostics for board 50:
2025-04-24 10:17:38 [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 10:17:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:42 ago, cause: software
2025-04-24 10:17:38 [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 10:17:38 [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 10:17:38 [debug] Moves scheduled 3047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=18292
Sync err accum 72, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:17:38 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17052, writes 0 timeouts 0
2025-04-24 10:17:38 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36337/37176
2025-04-24 10:17:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8581, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:38 [info] currentZPosition:0.0313
2025-04-24 10:17:38 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:39 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:39 [debug] Diagnostics for board 50:
2025-04-24 10:17:39 [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 10:17:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:44 ago, cause: software
2025-04-24 10:17:39 [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 10:17:39 [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 10:17:39 [debug] Moves scheduled 3053, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:39 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 22426, writes 0 timeouts 0
2025-04-24 10:17:39 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36410/37178
2025-04-24 10:17:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8591, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:39 [info] currentZPosition:0.0312
2025-04-24 10:17:41 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:41 [debug] Diagnostics for board 50:
2025-04-24 10:17:41 [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 10:17:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:45 ago, cause: software
2025-04-24 10:17:41 [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 10:17:41 [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 10:17:41 [debug] Moves scheduled 3057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:41 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16826, writes 0 timeouts 0
2025-04-24 10:17:41 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35773/37169
2025-04-24 10:17:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:41 [info] currentZPosition:0.0308
2025-04-24 10:17:42 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:42 [debug] Diagnostics for board 50:
2025-04-24 10:17:42 [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 10:17:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:47 ago, cause: software
2025-04-24 10:17:42 [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 10:17:42 [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 10:17:42 [debug] Moves scheduled 3061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=517, max=17045
Sync err accum 80, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:17:42 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 18217, writes 11 timeouts 1
2025-04-24 10:17:42 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36254/37173
2025-04-24 10:17:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:42 [info] currentZPosition:0.0317
2025-04-24 10:17:43 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:43 [debug] Diagnostics for board 50:
2025-04-24 10:17:43 [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 10:17:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.2%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:48 ago, cause: software
2025-04-24 10:17:43 [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 10:17:43 [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 10:17:43 [debug] Moves scheduled 3065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6578, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:43 [debug] Driver 0: pos -3397, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16152, writes 0 timeouts 0
2025-04-24 10:17:43 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35989/37171
2025-04-24 10:17:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8487, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:44 [info] currentZPosition:0.0333
2025-04-24 10:17:44 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:45 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:45 [debug] Diagnostics for board 50:
2025-04-24 10:17:45 [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 10:17:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:50 ago, cause: software
2025-04-24 10:17:45 [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 10:17:45 [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 10:17:45 [debug] Moves scheduled 3071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:45 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 22654, writes 0 timeouts 0
2025-04-24 10:17:45 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37177
2025-04-24 10:17:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8526, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:45 [info] currentZPosition:0.0326
2025-04-24 10:17:47 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:47 [debug] Diagnostics for board 50:
2025-04-24 10:17:47 [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 10:17:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:51 ago, cause: software
2025-04-24 10:17:47 [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 10:17:47 [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 10:17:47 [debug] Moves scheduled 3075, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:47 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16897, writes 0 timeouts 0
2025-04-24 10:17:47 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36182/37176
2025-04-24 10:17:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:47 [info] currentZPosition:0.0318
2025-04-24 10:17:48 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:48 [debug] Diagnostics for board 50:
2025-04-24 10:17:48 [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 10:17:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:53 ago, cause: software
2025-04-24 10:17:48 [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 10:17:48 [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 10:17:48 [debug] Moves scheduled 3079, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 73, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:48 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 18738, writes 0 timeouts 0
2025-04-24 10:17:48 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35941/37176
2025-04-24 10:17:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8589, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:48 [info] currentZPosition:0.0314
2025-04-24 10:17:49 [debug] Stopped at height 0.032 mm
2025-04-24 10:17:49 [debug] Diagnostics for board 50:
2025-04-24 10:17:49 [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 10:17:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:54 ago, cause: software
2025-04-24 10:17:49 [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 10:17:49 [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 10:17:49 [debug] Moves scheduled 3083, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 63, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:49 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16507, writes 0 timeouts 0
2025-04-24 10:17:49 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36348/37174
2025-04-24 10:17:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8554, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:49 [info] currentZPosition:0.0321
2025-04-24 10:17:51 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:51 [debug] Diagnostics for board 50:
2025-04-24 10:17:51 [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 10:17:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:56 ago, cause: software
2025-04-24 10:17:51 [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 10:17:51 [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 10:17:51 [debug] Moves scheduled 3087, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 73, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:51 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 18242, writes 0 timeouts 0
2025-04-24 10:17:51 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35805/37175
2025-04-24 10:17:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8508, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:51 [info] currentZPosition:0.0330
2025-04-24 10:17:52 [debug] Stopped at height 0.031 mm
2025-04-24 10:17:52 [debug] Diagnostics for board 50:
2025-04-24 10:17:52 [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 10:17:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:57 ago, cause: software
2025-04-24 10:17:52 [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 10:17:52 [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 10:17:52 [debug] Moves scheduled 3091, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 81, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:17:52 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17302, writes 0 timeouts 0
2025-04-24 10:17:52 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35821/37174
2025-04-24 10:17:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8619, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:52 [info] currentZPosition:0.0308
2025-04-24 10:17:53 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:54 [debug] Stopped at height 0.030 mm
2025-04-24 10:17:54 [debug] Diagnostics for board 50:
2025-04-24 10:17:54 [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 10:17:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:19:59 ago, cause: software
2025-04-24 10:17:54 [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 10:17:54 [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 10:17:54 [debug] Moves scheduled 3097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:17:54 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 22698, writes 0 timeouts 0
2025-04-24 10:17:54 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36410/37173
2025-04-24 10:17:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:54 [info] currentZPosition:0.0299
2025-04-24 10:17:55 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:55 [debug] Diagnostics for board 50:
2025-04-24 10:17:55 [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 10:17:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:00 ago, cause: software
2025-04-24 10:17:55 [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 10:17:55 [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 10:17:55 [debug] Moves scheduled 3101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
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 4294936704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:17:55 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 15722, writes 0 timeouts 0
2025-04-24 10:17:55 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36040/37173
2025-04-24 10:17:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8513, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:55 [info] currentZPosition:0.0330
2025-04-24 10:17:56 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:57 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:57 [debug] Diagnostics for board 50:
2025-04-24 10:17:57 [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 10:17:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:02 ago, cause: software
2025-04-24 10:17:57 [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 10:17:57 [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 10:17:57 [debug] Moves scheduled 3107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 94, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:17:57 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 22413, writes 0 timeouts 0
2025-04-24 10:17:57 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36254/37175
2025-04-24 10:17:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8536, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:57 [info] currentZPosition:0.0328
2025-04-24 10:17:58 [debug] Stopped at height 0.033 mm
2025-04-24 10:17:58 [debug] Diagnostics for board 50:
2025-04-24 10:17:58 [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 10:17:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:03 ago, cause: software
2025-04-24 10:17:58 [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 10:17:58 [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 10:17:58 [debug] Moves scheduled 3111, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 90, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:17:58 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16708, writes 0 timeouts 0
2025-04-24 10:17:58 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36251/37174
2025-04-24 10:17:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:17:59 [info] currentZPosition:0.0327
2025-04-24 10:18:00 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:00 [debug] Diagnostics for board 50:
2025-04-24 10:18:00 [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 10:18:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:05 ago, cause: software
2025-04-24 10:18:00 [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 10:18:00 [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 10:18:00 [debug] Moves scheduled 3115, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 85, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:00 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 18652, writes 0 timeouts 0
2025-04-24 10:18:00 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37175
2025-04-24 10:18:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8553, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:00 [info] currentZPosition:0.0325
2025-04-24 10:18:01 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:01 [debug] Diagnostics for board 50:
2025-04-24 10:18:01 [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 10:18:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:06 ago, cause: software
2025-04-24 10:18:01 [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 10:18:01 [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 10:18:01 [debug] Moves scheduled 3119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=18292
Sync err accum 73, peak jitter -2/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:01 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16665, writes 0 timeouts 0
2025-04-24 10:18:01 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36417/37177
2025-04-24 10:18:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8561, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:01 [info] currentZPosition:0.0324
2025-04-24 10:18:03 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:03 [debug] Diagnostics for board 50:
2025-04-24 10:18:03 [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 10:18:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:08 ago, cause: software
2025-04-24 10:18:03 [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 10:18:03 [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 10:18:03 [debug] Moves scheduled 3123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=18292
Sync err accum 60, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:03 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 18438, writes 0 timeouts 0
2025-04-24 10:18:03 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35957/37176
2025-04-24 10:18:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8552, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:03 [info] currentZPosition:0.0325
2025-04-24 10:18:04 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:04 [debug] Diagnostics for board 50:
2025-04-24 10:18:04 [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 10:18:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:09 ago, cause: software
2025-04-24 10:18:04 [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 10:18:04 [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 10:18:04 [debug] Moves scheduled 3127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 68, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:18:04 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16568, writes 0 timeouts 0
2025-04-24 10:18:04 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35878/37171
2025-04-24 10:18:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8530, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:04 [info] currentZPosition:0.0329
2025-04-24 10:18:06 [debug] Stopped at height 0.031 mm
2025-04-24 10:18:06 [debug] Diagnostics for board 50:
2025-04-24 10:18:06 [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 10:18:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:10 ago, cause: software
2025-04-24 10:18:06 [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 10:18:06 [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 10:18:06 [debug] Moves scheduled 3131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6756, max=17857
Sync err accum 79, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:06 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 19019, writes 0 timeouts 0
2025-04-24 10:18:06 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 35809/37175
2025-04-24 10:18:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8615, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:06 [info] currentZPosition:0.0313
2025-04-24 10:18:06 [debug] Stopped at height 0.031 mm
2025-04-24 10:18:07 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:07 [debug] Diagnostics for board 50:
2025-04-24 10:18:07 [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 10:18:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:12 ago, cause: software
2025-04-24 10:18:07 [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 10:18:07 [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 10:18:07 [debug] Moves scheduled 3137, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:18:07 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 19920, writes 0 timeouts 0
2025-04-24 10:18:07 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36074/37177
2025-04-24 10:18:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8505, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:07 [info] currentZPosition:0.0335
2025-04-24 10:18:08 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:09 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:09 [debug] Diagnostics for board 50:
2025-04-24 10:18:09 [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 10:18:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:14 ago, cause: software
2025-04-24 10:18:09 [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 10:18:09 [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 10:18:09 [debug] Moves scheduled 3143, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=18292
Sync err accum 84, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:09 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 22841, writes 0 timeouts 0
2025-04-24 10:18:09 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36408/37176
2025-04-24 10:18:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8566, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:09 [info] currentZPosition:0.0324
2025-04-24 10:18:10 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:10 [debug] Diagnostics for board 50:
2025-04-24 10:18:10 [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 10:18:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:15 ago, cause: software
2025-04-24 10:18:10 [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 10:18:10 [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 10:18:10 [debug] Moves scheduled 3147, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:10 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16579, writes 0 timeouts 0
2025-04-24 10:18:10 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36261/37171
2025-04-24 10:18:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8555, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:10 [info] currentZPosition:0.0327
2025-04-24 10:18:12 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:12 [debug] Diagnostics for board 50:
2025-04-24 10:18:12 [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 10:18:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:17 ago, cause: software
2025-04-24 10:18:12 [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 10:18:12 [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 10:18:12 [debug] Moves scheduled 3151, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:12 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 18326, writes 0 timeouts 0
2025-04-24 10:18:12 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36258/37176
2025-04-24 10:18:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8520, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:12 [info] currentZPosition:0.0334
2025-04-24 10:18:13 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:13 [debug] Diagnostics for board 50:
2025-04-24 10:18:13 [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 10:18:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:18 ago, cause: software
2025-04-24 10:18:13 [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 10:18:13 [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 10:18:13 [debug] Moves scheduled 3155, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:13 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17095, writes 0 timeouts 0
2025-04-24 10:18:13 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35727/37175
2025-04-24 10:18:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:13 [info] currentZPosition:0.0321
2025-04-24 10:18:14 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:15 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:15 [debug] Diagnostics for board 50:
2025-04-24 10:18:15 [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 10:18:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:20 ago, cause: software
2025-04-24 10:18:15 [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 10:18:15 [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 10:18:15 [debug] Moves scheduled 3161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 68, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:15 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 21991, writes 0 timeouts 0
2025-04-24 10:18:15 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36081/37172
2025-04-24 10:18:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8511, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:15 [info] currentZPosition:0.0336
2025-04-24 10:18:15 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:17 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:17 [debug] Diagnostics for board 50:
2025-04-24 10:18:17 [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 10:18:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:21 ago, cause: software
2025-04-24 10:18:17 [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 10:18:17 [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 10:18:17 [debug] Moves scheduled 3167, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:17 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20493, writes 0 timeouts 0
2025-04-24 10:18:17 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35914/37176
2025-04-24 10:18:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8513, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:17 [info] currentZPosition:0.0337
2025-04-24 10:18:18 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:18 [debug] Diagnostics for board 50:
2025-04-24 10:18:18 [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 10:18:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:23 ago, cause: software
2025-04-24 10:18:18 [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 10:18:18 [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 10:18:18 [debug] Moves scheduled 3171, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 73, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:18 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 18764, writes 0 timeouts 0
2025-04-24 10:18:18 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35932/37175
2025-04-24 10:18:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8550, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:18 [info] currentZPosition:0.0329
2025-04-24 10:18:19 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:19 [debug] Diagnostics for board 50:
2025-04-24 10:18:19 [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 10:18:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:24 ago, cause: software
2025-04-24 10:18:19 [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 10:18:19 [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 10:18:19 [debug] Moves scheduled 3175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17857
Sync err accum 70, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:19 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17022, writes 0 timeouts 0
2025-04-24 10:18:19 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36082/37172
2025-04-24 10:18:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8618, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:20 [info] currentZPosition:0.0317
2025-04-24 10:18:21 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:21 [debug] Diagnostics for board 50:
2025-04-24 10:18:21 [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 10:18:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:26 ago, cause: software
2025-04-24 10:18:21 [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 10:18:21 [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 10:18:21 [debug] Moves scheduled 3179, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:21 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 18029, writes 0 timeouts 0
2025-04-24 10:18:21 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35780/37175
2025-04-24 10:18:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8538, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:21 [info] currentZPosition:0.0332
2025-04-24 10:18:21 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:22 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:23 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:23 [debug] Diagnostics for board 50:
2025-04-24 10:18:23 [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 10:18:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:28 ago, cause: software
2025-04-24 10:18:23 [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 10:18:23 [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 10:18:23 [debug] Moves scheduled 3187, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6637, max=17045
Sync err accum 70, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:23 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 24543, writes 0 timeouts 0
2025-04-24 10:18:23 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 286, adv 36290/37178
2025-04-24 10:18:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8519, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:23 [info] currentZPosition:0.0338
2025-04-24 10:18:23 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:25 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:25 [debug] Diagnostics for board 50:
2025-04-24 10:18:25 [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 10:18:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:29 ago, cause: software
2025-04-24 10:18:25 [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 10:18:25 [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 10:18:25 [debug] Moves scheduled 3193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=504, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:18:25 [debug] Driver 0: pos -3395, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 22052, writes 11 timeouts 1
2025-04-24 10:18:25 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36375/37173
2025-04-24 10:18:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 793
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8475, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:25 [info] currentZPosition:0.0348
2025-04-24 10:18:25 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:26 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:26 [debug] Diagnostics for board 50:
2025-04-24 10:18:26 [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 10:18:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:20:31 ago, cause: software
2025-04-24 10:18:26 [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 10:18:26 [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 10:18:26 [debug] Moves scheduled 3199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 82, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:26 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20696, writes 0 timeouts 0
2025-04-24 10:18:26 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35759/37172
2025-04-24 10:18:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8498, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:26 [info] currentZPosition:0.0344
2025-04-24 10:18:27 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:28 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:28 [debug] Diagnostics for board 50:
2025-04-24 10:18:28 [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 10:18:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:33 ago, cause: software
2025-04-24 10:18:28 [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 10:18:28 [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 10:18:28 [debug] Moves scheduled 3205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:28 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 23248, writes 0 timeouts 0
2025-04-24 10:18:28 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36236/37173
2025-04-24 10:18:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8628, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:28 [info] currentZPosition:0.0321
2025-04-24 10:18:29 [debug] Stopped at height 0.030 mm
2025-04-24 10:18:29 [debug] Stopped at height 0.030 mm
2025-04-24 10:18:30 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:30 [debug] Diagnostics for board 50:
2025-04-24 10:18:30 [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 10:18:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:35 ago, cause: software
2025-04-24 10:18:30 [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 10:18:30 [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 10:18:30 [debug] Moves scheduled 3213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=533, max=17857
Sync err accum 76, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:30 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 24732, writes 11 timeouts 1
2025-04-24 10:18:30 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 35970/37177
2025-04-24 10:18:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8643, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:30 [info] currentZPosition:0.0320
2025-04-24 10:18:31 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:32 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:32 [debug] Diagnostics for board 50:
2025-04-24 10:18:32 [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 10:18:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:37 ago, cause: software
2025-04-24 10:18:32 [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 10:18:32 [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 10:18:32 [debug] Moves scheduled 3219, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:32 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 21882, writes 0 timeouts 0
2025-04-24 10:18:32 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36081/37176
2025-04-24 10:18:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8546, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:32 [info] currentZPosition:0.0339
2025-04-24 10:18:32 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:34 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:34 [debug] Diagnostics for board 50:
2025-04-24 10:18:34 [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 10:18:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:38 ago, cause: software
2025-04-24 10:18:34 [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 10:18:34 [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 10:18:34 [debug] Moves scheduled 3225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 67, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:34 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20441, writes 0 timeouts 0
2025-04-24 10:18:34 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36416/37178
2025-04-24 10:18:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8531, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:34 [info] currentZPosition:0.0343
2025-04-24 10:18:35 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:35 [debug] Diagnostics for board 50:
2025-04-24 10:18:35 [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 10:18:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:40 ago, cause: software
2025-04-24 10:18:35 [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 10:18:35 [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 10:18:35 [debug] Moves scheduled 3229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6198, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:18:35 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 18803, writes 0 timeouts 0
2025-04-24 10:18:35 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 35892/37170
2025-04-24 10:18:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8593, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:35 [info] currentZPosition:0.0331
2025-04-24 10:18:36 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:36 [debug] Diagnostics for board 50:
2025-04-24 10:18:36 [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 10:18:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:41 ago, cause: software
2025-04-24 10:18:36 [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 10:18:36 [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 10:18:36 [debug] Moves scheduled 3233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:36 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16848, writes 0 timeouts 0
2025-04-24 10:18:36 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36131/37171
2025-04-24 10:18:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:36 [info] currentZPosition:0.0325
2025-04-24 10:18:38 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:38 [debug] Diagnostics for board 50:
2025-04-24 10:18:38 [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 10:18:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:43 ago, cause: software
2025-04-24 10:18:38 [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 10:18:38 [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 10:18:38 [debug] Moves scheduled 3237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 68, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:38 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 18166, writes 0 timeouts 0
2025-04-24 10:18:38 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35754/37170
2025-04-24 10:18:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8573, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:38 [info] currentZPosition:0.0335
2025-04-24 10:18:39 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:39 [debug] Diagnostics for board 50:
2025-04-24 10:18:39 [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 10:18:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:44 ago, cause: software
2025-04-24 10:18:39 [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 10:18:39 [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 10:18:39 [debug] Moves scheduled 3241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 63, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:39 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16254, writes 0 timeouts 0
2025-04-24 10:18:39 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36346/37171
2025-04-24 10:18:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8506, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:39 [info] currentZPosition:0.0348
2025-04-24 10:18:40 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:41 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:41 [debug] Diagnostics for board 50:
2025-04-24 10:18:41 [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 10:18:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:46 ago, cause: software
2025-04-24 10:18:41 [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 10:18:41 [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 10:18:41 [debug] Moves scheduled 3247, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:41 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 22230, writes 0 timeouts 0
2025-04-24 10:18:41 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36348/37173
2025-04-24 10:18:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8504, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:41 [info] currentZPosition:0.0350
2025-04-24 10:18:41 [debug] Stopped at height 0.037 mm
2025-04-24 10:18:42 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:43 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:43 [debug] Diagnostics for board 50:
2025-04-24 10:18:43 [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 10:18:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:48 ago, cause: software
2025-04-24 10:18:43 [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 10:18:43 [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 10:18:43 [debug] Moves scheduled 3255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17857
Sync err accum 69, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:43 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 24777, writes 0 timeouts 0
2025-04-24 10:18:43 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 35825/37174
2025-04-24 10:18:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8534, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:43 [info] currentZPosition:0.0346
2025-04-24 10:18:44 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:44 [debug] Diagnostics for board 50:
2025-04-24 10:18:44 [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 10:18:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:49 ago, cause: software
2025-04-24 10:18:44 [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 10:18:44 [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 10:18:44 [debug] Moves scheduled 3259, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17857
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:44 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 18554, writes 0 timeouts 0
2025-04-24 10:18:44 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36203/37169
2025-04-24 10:18:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:44 [info] currentZPosition:0.0343
2025-04-24 10:18:46 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:46 [debug] Diagnostics for board 50:
2025-04-24 10:18:46 [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 10:18:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:51 ago, cause: software
2025-04-24 10:18:46 [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 10:18:46 [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 10:18:46 [debug] Moves scheduled 3263, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:46 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16653, writes 0 timeouts 0
2025-04-24 10:18:46 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36002/37174
2025-04-24 10:18:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8550, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4564, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:46 [info] currentZPosition:0.0342
2025-04-24 10:18:47 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:47 [debug] Diagnostics for board 50:
2025-04-24 10:18:47 [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 10:18:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:52 ago, cause: software
2025-04-24 10:18:47 [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 10:18:47 [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 10:18:47 [debug] Moves scheduled 3267, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:47 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 18142, writes 0 timeouts 0
2025-04-24 10:18:47 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36029/37175
2025-04-24 10:18:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8505, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:47 [info] currentZPosition:0.0352
2025-04-24 10:18:49 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:49 [debug] Diagnostics for board 50:
2025-04-24 10:18:49 [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 10:18:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:53 ago, cause: software
2025-04-24 10:18:49 [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 10:18:49 [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 10:18:49 [debug] Moves scheduled 3271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6637, max=17857
Sync err accum 72, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:18:49 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16593, writes 0 timeouts 0
2025-04-24 10:18:49 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36175/37175
2025-04-24 10:18:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8500, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:49 [info] currentZPosition:0.0353
2025-04-24 10:18:50 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:50 [debug] Diagnostics for board 50:
2025-04-24 10:18:50 [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 10:18:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:55 ago, cause: software
2025-04-24 10:18:50 [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 10:18:50 [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 10:18:50 [debug] Moves scheduled 3275, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6696, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:50 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19062, writes 0 timeouts 0
2025-04-24 10:18:50 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35882/37173
2025-04-24 10:18:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8596, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:50 [info] currentZPosition:0.0335
2025-04-24 10:18:50 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:52 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:52 [debug] Diagnostics for board 50:
2025-04-24 10:18:52 [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 10:18:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:56 ago, cause: software
2025-04-24 10:18:52 [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 10:18:52 [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 10:18:52 [debug] Moves scheduled 3281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:52 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20339, writes 0 timeouts 0
2025-04-24 10:18:52 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 296, adv 36404/37177
2025-04-24 10:18:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8547, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4563, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:52 [info] currentZPosition:0.0345
2025-04-24 10:18:52 [debug] Stopped at height 0.032 mm
2025-04-24 10:18:53 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:53 [debug] Diagnostics for board 50:
2025-04-24 10:18:53 [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 10:18:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:58 ago, cause: software
2025-04-24 10:18:53 [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 10:18:53 [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 10:18:53 [debug] Moves scheduled 3287, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:53 [debug] Driver 0: pos -3400, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 22033, writes 0 timeouts 0
2025-04-24 10:18:53 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35723/37176
2025-04-24 10:18:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8502, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:53 [info] currentZPosition:0.0355
2025-04-24 10:18:54 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:55 [debug] Stopped at height 0.035 mm
2025-04-24 10:18:55 [debug] Diagnostics for board 50:
2025-04-24 10:18:55 [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 10:18:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:00 ago, cause: software
2025-04-24 10:18:55 [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 10:18:55 [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 10:18:55 [debug] Moves scheduled 3293, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:18:55 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20686, writes 0 timeouts 0
2025-04-24 10:18:55 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35840/37175
2025-04-24 10:18:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8531, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:55 [info] currentZPosition:0.0350
2025-04-24 10:18:56 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:57 [debug] Stopped at height 0.034 mm
2025-04-24 10:18:57 [debug] Diagnostics for board 50:
2025-04-24 10:18:57 [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 10:18:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:02 ago, cause: software
2025-04-24 10:18:57 [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 10:18:57 [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 10:18:57 [debug] Moves scheduled 3299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 69, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:18:57 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 22575, writes 0 timeouts 0
2025-04-24 10:18:57 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36321/37175
2025-04-24 10:18:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8578, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:57 [info] currentZPosition:0.0342
2025-04-24 10:18:58 [debug] Stopped at height 0.033 mm
2025-04-24 10:18:58 [debug] Diagnostics for board 50:
2025-04-24 10:18:58 [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 10:18:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:03 ago, cause: software
2025-04-24 10:18:58 [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 10:18:58 [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 10:18:58 [debug] Moves scheduled 3303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:18:58 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16962, writes 0 timeouts 0
2025-04-24 10:18:58 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36058/37174
2025-04-24 10:18:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8628, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:18:58 [info] currentZPosition:0.0333
2025-04-24 10:19:00 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:00 [debug] Diagnostics for board 50:
2025-04-24 10:19:00 [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 10:19:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:04 ago, cause: software
2025-04-24 10:19:00 [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 10:19:00 [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 10:19:00 [debug] Moves scheduled 3307, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:00 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17909, writes 0 timeouts 0
2025-04-24 10:19:00 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36157/37176
2025-04-24 10:19:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8533, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:00 [info] currentZPosition:0.0351
2025-04-24 10:19:00 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:01 [debug] Stopped at height 0.033 mm
2025-04-24 10:19:01 [debug] Diagnostics for board 50:
2025-04-24 10:19:01 [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 10:19:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:06 ago, cause: software
2025-04-24 10:19:01 [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 10:19:01 [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 10:19:01 [debug] Moves scheduled 3313, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 70, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:01 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20984, writes 0 timeouts 0
2025-04-24 10:19:01 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36259/37176
2025-04-24 10:19:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8624, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:01 [info] currentZPosition:0.0335
2025-04-24 10:19:03 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:03 [debug] Diagnostics for board 50:
2025-04-24 10:19:03 [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 10:19:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:08 ago, cause: software
2025-04-24 10:19:03 [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 10:19:03 [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 10:19:03 [debug] Moves scheduled 3317, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:03 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 18205, writes 0 timeouts 0
2025-04-24 10:19:03 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35995/37176
2025-04-24 10:19:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8578, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:03 [info] currentZPosition:0.0343
2025-04-24 10:19:04 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:04 [debug] Diagnostics for board 50:
2025-04-24 10:19:04 [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 10:19:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:09 ago, cause: software
2025-04-24 10:19:04 [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 10:19:04 [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 10:19:04 [debug] Moves scheduled 3321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:04 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16514, writes 0 timeouts 0
2025-04-24 10:19:04 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35732/37177
2025-04-24 10:19:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:04 [info] currentZPosition:0.0348
2025-04-24 10:19:06 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:06 [debug] Diagnostics for board 50:
2025-04-24 10:19:06 [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 10:19:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:10 ago, cause: software
2025-04-24 10:19:06 [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 10:19:06 [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 10:19:06 [debug] Moves scheduled 3325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:06 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 18056, writes 0 timeouts 0
2025-04-24 10:19:06 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35832/37168
2025-04-24 10:19:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8499, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:06 [info] currentZPosition:0.0359
2025-04-24 10:19:07 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:07 [debug] Diagnostics for board 50:
2025-04-24 10:19:07 [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 10:19:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:12 ago, cause: software
2025-04-24 10:19:07 [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 10:19:07 [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 10:19:07 [debug] Moves scheduled 3329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6521, max=18292
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:07 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17292, writes 0 timeouts 0
2025-04-24 10:19:07 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35921/37176
2025-04-24 10:19:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8607, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:07 [info] currentZPosition:0.0337
2025-04-24 10:19:07 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:09 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:09 [debug] Diagnostics for board 50:
2025-04-24 10:19:09 [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 10:19:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:13 ago, cause: software
2025-04-24 10:19:09 [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 10:19:09 [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 10:19:09 [debug] Moves scheduled 3335, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6355, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:09 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 21721, writes 0 timeouts 0
2025-04-24 10:19:09 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35678/37171
2025-04-24 10:19:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8520, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:09 [info] currentZPosition:0.0355
2025-04-24 10:19:10 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:10 [debug] Diagnostics for board 50:
2025-04-24 10:19:10 [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 10:19:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:15 ago, cause: software
2025-04-24 10:19:10 [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 10:19:10 [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 10:19:10 [debug] Moves scheduled 3339, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6880, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:10 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17004, writes 0 timeouts 0
2025-04-24 10:19:10 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36097/37171
2025-04-24 10:19:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:10 [info] currentZPosition:0.0345
2025-04-24 10:19:12 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:12 [debug] Diagnostics for board 50:
2025-04-24 10:19:12 [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 10:19:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:21:16 ago, cause: software
2025-04-24 10:19:12 [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 10:19:12 [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 10:19:12 [debug] Moves scheduled 3343, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:12 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 18246, writes 0 timeouts 0
2025-04-24 10:19:12 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36280/37169
2025-04-24 10:19:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8551, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:12 [info] currentZPosition:0.0349
2025-04-24 10:19:13 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:13 [debug] Diagnostics for board 50:
2025-04-24 10:19:13 [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 10:19:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:18 ago, cause: software
2025-04-24 10:19:13 [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 10:19:13 [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 10:19:13 [debug] Moves scheduled 3347, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:19:13 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16587, writes 0 timeouts 0
2025-04-24 10:19:13 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36322/37172
2025-04-24 10:19:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:13 [info] currentZPosition:0.0351
2025-04-24 10:19:14 [debug] Stopped at height 0.033 mm
2025-04-24 10:19:14 [debug] Diagnostics for board 50:
2025-04-24 10:19:14 [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 10:19:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:19 ago, cause: software
2025-04-24 10:19:14 [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 10:19:14 [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 10:19:14 [debug] Moves scheduled 3351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 91, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:19:14 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 18872, writes 0 timeouts 0
2025-04-24 10:19:14 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37177
2025-04-24 10:19:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8633, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:14 [info] currentZPosition:0.0335
2025-04-24 10:19:15 [debug] Stopped at height 0.033 mm
2025-04-24 10:19:16 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:16 [debug] Diagnostics for board 50:
2025-04-24 10:19:16 [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 10:19:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:21 ago, cause: software
2025-04-24 10:19:16 [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 10:19:16 [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 10:19:16 [debug] Moves scheduled 3357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 95, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:16 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20399, writes 0 timeouts 0
2025-04-24 10:19:16 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35765/37176
2025-04-24 10:19:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:16 [info] currentZPosition:0.0341
2025-04-24 10:19:17 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:17 [debug] Diagnostics for board 50:
2025-04-24 10:19:17 [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 10:19:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:22 ago, cause: software
2025-04-24 10:19:17 [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 10:19:17 [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 10:19:17 [debug] Moves scheduled 3361, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 95, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:19:17 [debug] Driver 0: pos -3403, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17854, writes 0 timeouts 0
2025-04-24 10:19:17 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35961/37178
2025-04-24 10:19:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8518, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:17 [info] currentZPosition:0.0359
2025-04-24 10:19:18 [debug] Stopped at height 0.033 mm
2025-04-24 10:19:19 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:19 [debug] Diagnostics for board 50:
2025-04-24 10:19:19 [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 10:19:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:24 ago, cause: software
2025-04-24 10:19:19 [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 10:19:19 [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 10:19:19 [debug] Moves scheduled 3367, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 93, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:19 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20694, writes 0 timeouts 0
2025-04-24 10:19:19 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35992/37177
2025-04-24 10:19:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:19 [info] currentZPosition:0.0354
2025-04-24 10:19:20 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:21 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:21 [debug] Diagnostics for board 50:
2025-04-24 10:19:21 [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 10:19:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:26 ago, cause: software
2025-04-24 10:19:21 [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 10:19:21 [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 10:19:21 [debug] Moves scheduled 3373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:19:21 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 22079, writes 0 timeouts 0
2025-04-24 10:19:21 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35786/37177
2025-04-24 10:19:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8522, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:21 [info] currentZPosition:0.0360
2025-04-24 10:19:21 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:22 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:22 [debug] Diagnostics for board 50:
2025-04-24 10:19:22 [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 10:19:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:27 ago, cause: software
2025-04-24 10:19:22 [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 10:19:22 [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 10:19:22 [debug] Moves scheduled 3379, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6880, max=17045
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:22 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20642, writes 0 timeouts 0
2025-04-24 10:19:22 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36141/37175
2025-04-24 10:19:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8540, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:23 [info] currentZPosition:0.0357
2025-04-24 10:19:23 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:24 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:24 [debug] Diagnostics for board 50:
2025-04-24 10:19:24 [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 10:19:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:29 ago, cause: software
2025-04-24 10:19:24 [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 10:19:24 [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 10:19:24 [debug] Moves scheduled 3385, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 62, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:24 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 22328, writes 0 timeouts 0
2025-04-24 10:19:24 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36379/37179
2025-04-24 10:19:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8556, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:24 [info] currentZPosition:0.0355
2025-04-24 10:19:26 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:26 [debug] Diagnostics for board 50:
2025-04-24 10:19:26 [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 10:19:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:30 ago, cause: software
2025-04-24 10:19:26 [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 10:19:26 [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 10:19:26 [debug] Moves scheduled 3389, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 74, peak jitter 0/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:19:26 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16711, writes 0 timeouts 0
2025-04-24 10:19:26 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36360/37175
2025-04-24 10:19:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:26 [info] currentZPosition:0.0352
2025-04-24 10:19:27 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:27 [debug] Diagnostics for board 50:
2025-04-24 10:19:27 [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 10:19:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:32 ago, cause: software
2025-04-24 10:19:27 [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 10:19:27 [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 10:19:27 [debug] Moves scheduled 3393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 87, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:27 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 18176, writes 0 timeouts 0
2025-04-24 10:19:27 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36230/37175
2025-04-24 10:19:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8540, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:27 [info] currentZPosition:0.0359
2025-04-24 10:19:28 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:28 [debug] Diagnostics for board 50:
2025-04-24 10:19:28 [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 10:19:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:33 ago, cause: software
2025-04-24 10:19:28 [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 10:19:28 [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 10:19:28 [debug] Moves scheduled 3397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 99, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:28 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16561, writes 0 timeouts 0
2025-04-24 10:19:28 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35834/37173
2025-04-24 10:19:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8522, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:28 [info] currentZPosition:0.0362
2025-04-24 10:19:30 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:30 [debug] Diagnostics for board 50:
2025-04-24 10:19:30 [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 10:19:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:35 ago, cause: software
2025-04-24 10:19:30 [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 10:19:30 [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 10:19:30 [debug] Moves scheduled 3401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 108, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:30 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 18921, writes 0 timeouts 0
2025-04-24 10:19:30 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36052/37174
2025-04-24 10:19:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:30 [info] currentZPosition:0.0345
2025-04-24 10:19:30 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:32 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:32 [debug] Diagnostics for board 50:
2025-04-24 10:19:32 [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 10:19:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:36 ago, cause: software
2025-04-24 10:19:32 [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 10:19:32 [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 10:19:32 [debug] Moves scheduled 3407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17441
Sync err accum 113, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:32 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20533, writes 0 timeouts 0
2025-04-24 10:19:32 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35718/37175
2025-04-24 10:19:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8602, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:32 [info] currentZPosition:0.0348
2025-04-24 10:19:33 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:33 [debug] Diagnostics for board 50:
2025-04-24 10:19:33 [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 10:19:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:38 ago, cause: software
2025-04-24 10:19:33 [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 10:19:33 [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 10:19:33 [debug] Moves scheduled 3411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 113, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:33 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 18140, writes 0 timeouts 0
2025-04-24 10:19:33 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35896/37174
2025-04-24 10:19:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8562, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:33 [info] currentZPosition:0.0355
2025-04-24 10:19:34 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:34 [debug] Diagnostics for board 50:
2025-04-24 10:19:34 [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 10:19:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:39 ago, cause: software
2025-04-24 10:19:34 [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 10:19:34 [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 10:19:34 [debug] Moves scheduled 3415, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 116, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:34 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16616, writes 0 timeouts 0
2025-04-24 10:19:34 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36314/37177
2025-04-24 10:19:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8551, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:34 [info] currentZPosition:0.0357
2025-04-24 10:19:36 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:36 [debug] Diagnostics for board 50:
2025-04-24 10:19:36 [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 10:19:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:41 ago, cause: software
2025-04-24 10:19:36 [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 10:19:36 [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 10:19:36 [debug] Moves scheduled 3419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 114, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:36 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 18520, writes 0 timeouts 0
2025-04-24 10:19:36 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35728/37175
2025-04-24 10:19:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:36 [info] currentZPosition:0.0352
2025-04-24 10:19:37 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:37 [debug] Diagnostics for board 50:
2025-04-24 10:19:37 [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 10:19:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:42 ago, cause: software
2025-04-24 10:19:37 [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 10:19:37 [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 10:19:37 [debug] Moves scheduled 3423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=18292
Sync err accum 110, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:19:37 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16856, writes 0 timeouts 0
2025-04-24 10:19:37 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35761/37174
2025-04-24 10:19:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:37 [info] currentZPosition:0.0346
2025-04-24 10:19:39 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:39 [debug] Diagnostics for board 50:
2025-04-24 10:19:39 [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 10:19:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:43 ago, cause: software
2025-04-24 10:19:39 [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 10:19:39 [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 10:19:39 [debug] Moves scheduled 3427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:19:39 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 18116, writes 0 timeouts 0
2025-04-24 10:19:39 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36330/37179
2025-04-24 10:19:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8570, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:39 [info] currentZPosition:0.0354
2025-04-24 10:19:40 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:40 [debug] Diagnostics for board 50:
2025-04-24 10:19:40 [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 10:19:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:45 ago, cause: software
2025-04-24 10:19:40 [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 10:19:40 [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 10:19:40 [debug] Moves scheduled 3431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:40 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17083, writes 0 timeouts 0
2025-04-24 10:19:40 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35976/37178
2025-04-24 10:19:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:40 [info] currentZPosition:0.0341
2025-04-24 10:19:40 [debug] Stopped at height 0.037 mm
2025-04-24 10:19:42 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:42 [debug] Diagnostics for board 50:
2025-04-24 10:19:42 [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 10:19:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:47 ago, cause: software
2025-04-24 10:19:42 [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 10:19:42 [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 10:19:42 [debug] Moves scheduled 3437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 68, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:42 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 21737, writes 0 timeouts 0
2025-04-24 10:19:42 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36157/37181
2025-04-24 10:19:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8566, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:42 [info] currentZPosition:0.0357
2025-04-24 10:19:43 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:43 [debug] Diagnostics for board 50:
2025-04-24 10:19:43 [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 10:19:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:48 ago, cause: software
2025-04-24 10:19:43 [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 10:19:43 [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 10:19:43 [debug] Moves scheduled 3441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 60, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:43 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17232, writes 0 timeouts 0
2025-04-24 10:19:43 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36178/37176
2025-04-24 10:19:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:43 [info] currentZPosition:0.0340
2025-04-24 10:19:44 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:45 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:45 [debug] Diagnostics for board 50:
2025-04-24 10:19:45 [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 10:19:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:50 ago, cause: software
2025-04-24 10:19:45 [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 10:19:45 [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 10:19:45 [debug] Moves scheduled 3447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 84, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:19:45 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 21721, writes 0 timeouts 0
2025-04-24 10:19:45 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36005/37172
2025-04-24 10:19:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8564, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:45 [info] currentZPosition:0.0359
2025-04-24 10:19:45 [debug] Stopped at height 0.034 mm
2025-04-24 10:19:47 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:47 [debug] Diagnostics for board 50:
2025-04-24 10:19:47 [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 10:19:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:51 ago, cause: software
2025-04-24 10:19:47 [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 10:19:47 [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 10:19:47 [debug] Moves scheduled 3453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 102, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:47 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20675, writes 0 timeouts 0
2025-04-24 10:19:47 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36376/37173
2025-04-24 10:19:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8584, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:47 [info] currentZPosition:0.0356
2025-04-24 10:19:48 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:48 [debug] Diagnostics for board 50:
2025-04-24 10:19:48 [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 10:19:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:53 ago, cause: software
2025-04-24 10:19:48 [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 10:19:48 [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 10:19:48 [debug] Moves scheduled 3457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 114, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:48 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 18119, writes 0 timeouts 0
2025-04-24 10:19:48 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35816/37174
2025-04-24 10:19:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8543, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:48 [info] currentZPosition:0.0364
2025-04-24 10:19:49 [debug] Stopped at height 0.037 mm
2025-04-24 10:19:49 [debug] Diagnostics for board 50:
2025-04-24 10:19:49 [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 10:19:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:54 ago, cause: software
2025-04-24 10:19:49 [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 10:19:49 [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 10:19:49 [debug] Moves scheduled 3461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 122, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:49 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16528, writes 0 timeouts 0
2025-04-24 10:19:49 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35794/37173
2025-04-24 10:19:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8513, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:49 [info] currentZPosition:0.0370
2025-04-24 10:19:51 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:51 [debug] Diagnostics for board 50:
2025-04-24 10:19:51 [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 10:19:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:56 ago, cause: software
2025-04-24 10:19:51 [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 10:19:51 [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 10:19:51 [debug] Moves scheduled 3465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=18292
Sync err accum 124, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294928066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:51 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 18897, writes 0 timeouts 0
2025-04-24 10:19:51 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36406/37175
2025-04-24 10:19:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8591, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:51 [info] currentZPosition:0.0355
2025-04-24 10:19:51 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:52 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:52 [debug] Diagnostics for board 50:
2025-04-24 10:19:52 [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 10:19:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:57 ago, cause: software
2025-04-24 10:19:52 [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 10:19:52 [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 10:19:52 [debug] Moves scheduled 3471, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 125, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:19:52 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20656, writes 0 timeouts 0
2025-04-24 10:19:52 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35986/37174
2025-04-24 10:19:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8590, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:53 [info] currentZPosition:0.0356
2025-04-24 10:19:54 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:54 [debug] Diagnostics for board 50:
2025-04-24 10:19:54 [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 10:19:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:59 ago, cause: software
2025-04-24 10:19:54 [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 10:19:54 [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 10:19:54 [debug] Moves scheduled 3475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 125, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:54 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 18913, writes 0 timeouts 0
2025-04-24 10:19:54 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36251/37175
2025-04-24 10:19:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8594, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:54 [info] currentZPosition:0.0355
2025-04-24 10:19:55 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:55 [debug] Diagnostics for board 50:
2025-04-24 10:19:55 [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 10:19:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:00 ago, cause: software
2025-04-24 10:19:55 [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 10:19:55 [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 10:19:55 [debug] Moves scheduled 3479, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 119, peak jitter -1/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:19:55 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16652, writes 0 timeouts 0
2025-04-24 10:19:55 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36203/37175
2025-04-24 10:19:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8597, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:55 [info] currentZPosition:0.0355
2025-04-24 10:19:57 [debug] Stopped at height 0.036 mm
2025-04-24 10:19:57 [debug] Diagnostics for board 50:
2025-04-24 10:19:57 [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 10:19:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:02 ago, cause: software
2025-04-24 10:19:57 [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 10:19:57 [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 10:19:57 [debug] Moves scheduled 3483, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 110, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:19:57 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 18117, writes 0 timeouts 0
2025-04-24 10:19:57 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36078/37179
2025-04-24 10:19:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8556, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:57 [info] currentZPosition:0.0362
2025-04-24 10:19:58 [debug] Stopped at height 0.035 mm
2025-04-24 10:19:58 [debug] Diagnostics for board 50:
2025-04-24 10:19:58 [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 10:19:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:03 ago, cause: software
2025-04-24 10:19:58 [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 10:19:58 [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 10:19:58 [debug] Moves scheduled 3487, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 102, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:19:58 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16979, writes 0 timeouts 0
2025-04-24 10:19:58 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36395/37177
2025-04-24 10:19:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8614, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:19:58 [info] currentZPosition:0.0352
2025-04-24 10:20:00 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:00 [debug] Diagnostics for board 50:
2025-04-24 10:20:00 [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 10:20:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:04 ago, cause: software
2025-04-24 10:20:00 [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 10:20:00 [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 10:20:00 [debug] Moves scheduled 3491, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 87, peak jitter -3/-2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:20:00 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17684, writes 0 timeouts 0
2025-04-24 10:20:00 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35932/37178
2025-04-24 10:20:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8505, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:00 [info] currentZPosition:0.0372
2025-04-24 10:20:00 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:01 [debug] Stopped at height 0.035 mm
2025-04-24 10:20:01 [debug] Diagnostics for board 50:
2025-04-24 10:20:01 [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 10:20:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:06 ago, cause: software
2025-04-24 10:20:01 [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 10:20:01 [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 10:20:01 [debug] Moves scheduled 3497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:01 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 21322, writes 0 timeouts 0
2025-04-24 10:20:01 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35811/37181
2025-04-24 10:20:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8637, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:01 [info] currentZPosition:0.0348
2025-04-24 10:20:02 [debug] Stopped at height 0.034 mm
2025-04-24 10:20:03 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:03 [debug] Diagnostics for board 50:
2025-04-24 10:20:03 [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 10:20:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:08 ago, cause: software
2025-04-24 10:20:03 [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 10:20:03 [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 10:20:03 [debug] Moves scheduled 3503, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 66, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:03 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 21700, writes 0 timeouts 0
2025-04-24 10:20:03 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35753/37179
2025-04-24 10:20:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8565, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:03 [info] currentZPosition:0.0362
2025-04-24 10:20:03 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:05 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:05 [debug] Diagnostics for board 50:
2025-04-24 10:20:05 [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 10:20:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:09 ago, cause: software
2025-04-24 10:20:05 [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 10:20:05 [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 10:20:05 [debug] Moves scheduled 3509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6578, max=18292
Sync err accum 80, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:05 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20392, writes 0 timeouts 0
2025-04-24 10:20:05 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36016/37175
2025-04-24 10:20:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8560, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:05 [info] currentZPosition:0.0364
2025-04-24 10:20:06 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:06 [debug] Diagnostics for board 50:
2025-04-24 10:20:06 [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 10:20:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:11 ago, cause: software
2025-04-24 10:20:06 [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 10:20:06 [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 10:20:06 [debug] Moves scheduled 3513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 89, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:06 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 18156, writes 0 timeouts 0
2025-04-24 10:20:06 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36336/37175
2025-04-24 10:20:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8532, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:06 [info] currentZPosition:0.0370
2025-04-24 10:20:07 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:07 [debug] Diagnostics for board 50:
2025-04-24 10:20:07 [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 10:20:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:12 ago, cause: software
2025-04-24 10:20:07 [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 10:20:07 [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 10:20:07 [debug] Moves scheduled 3517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=875, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:07 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16979, writes 11 timeouts 1
2025-04-24 10:20:07 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36215/37174
2025-04-24 10:20:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8590, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:07 [info] currentZPosition:0.0359
2025-04-24 10:20:09 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:09 [debug] Diagnostics for board 50:
2025-04-24 10:20:09 [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 10:20:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:14 ago, cause: software
2025-04-24 10:20:09 [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 10:20:09 [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 10:20:09 [debug] Moves scheduled 3521, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17441
Sync err accum 93, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:09 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 18120, writes 0 timeouts 0
2025-04-24 10:20:09 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36178/37176
2025-04-24 10:20:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8562, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:09 [info] currentZPosition:0.0365
2025-04-24 10:20:10 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:10 [debug] Diagnostics for board 50:
2025-04-24 10:20:10 [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 10:20:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:15 ago, cause: software
2025-04-24 10:20:10 [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 10:20:10 [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 10:20:10 [debug] Moves scheduled 3525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17857
Sync err accum 92, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294929690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:10 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16395, writes 0 timeouts 0
2025-04-24 10:20:10 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35681/37176
2025-04-24 10:20:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8511, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:10 [info] currentZPosition:0.0375
2025-04-24 10:20:12 [debug] Stopped at height 0.035 mm
2025-04-24 10:20:12 [debug] Diagnostics for board 50:
2025-04-24 10:20:12 [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 10:20:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:16 ago, cause: software
2025-04-24 10:20:12 [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 10:20:12 [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 10:20:12 [debug] Moves scheduled 3529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 87, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:12 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 19220, writes 0 timeouts 0
2025-04-24 10:20:12 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36012/37169
2025-04-24 10:20:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:12 [info] currentZPosition:0.0347
2025-04-24 10:20:12 [debug] Stopped at height 0.035 mm
2025-04-24 10:20:13 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:13 [debug] Diagnostics for board 50:
2025-04-24 10:20:13 [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 10:20:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:18 ago, cause: software
2025-04-24 10:20:13 [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 10:20:13 [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 10:20:13 [debug] Moves scheduled 3535, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:20:13 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20079, writes 0 timeouts 0
2025-04-24 10:20:13 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35834/37176
2025-04-24 10:20:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:13 [info] currentZPosition:0.0362
2025-04-24 10:20:14 [debug] Stopped at height 0.035 mm
2025-04-24 10:20:15 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:15 [debug] Diagnostics for board 50:
2025-04-24 10:20:15 [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 10:20:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:20 ago, cause: software
2025-04-24 10:20:15 [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 10:20:15 [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 10:20:15 [debug] Moves scheduled 3541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17045
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 4294930617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:15 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 22096, writes 0 timeouts 0
2025-04-24 10:20:15 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35831/37180
2025-04-24 10:20:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:15 [info] currentZPosition:0.0365
2025-04-24 10:20:16 [debug] Stopped at height 0.034 mm
2025-04-24 10:20:17 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:17 [debug] Diagnostics for board 50:
2025-04-24 10:20:17 [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 10:20:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:21 ago, cause: software
2025-04-24 10:20:17 [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 10:20:17 [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 10:20:17 [debug] Moves scheduled 3547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
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 4294935232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:17 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20394, writes 0 timeouts 0
2025-04-24 10:20:17 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36022/37175
2025-04-24 10:20:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:17 [info] currentZPosition:0.0372
2025-04-24 10:20:17 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:18 [debug] Stopped at height 0.038 mm
2025-04-24 10:20:18 [debug] Diagnostics for board 50:
2025-04-24 10:20:18 [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 10:20:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:23 ago, cause: software
2025-04-24 10:20:18 [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 10:20:18 [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 10:20:18 [debug] Moves scheduled 3553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
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 4294934935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:18 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 22071, writes 0 timeouts 0
2025-04-24 10:20:18 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35679/37175
2025-04-24 10:20:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8529, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:19 [info] currentZPosition:0.0376
2025-04-24 10:20:20 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:20 [debug] Diagnostics for board 50:
2025-04-24 10:20:20 [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 10:20:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:25 ago, cause: software
2025-04-24 10:20:20 [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 10:20:20 [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 10:20:20 [debug] Moves scheduled 3557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:20 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17130, writes 0 timeouts 0
2025-04-24 10:20:20 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36246/37175
2025-04-24 10:20:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8596, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:20 [info] currentZPosition:0.0363
2025-04-24 10:20:20 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:22 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:22 [debug] Diagnostics for board 50:
2025-04-24 10:20:22 [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 10:20:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:26 ago, cause: software
2025-04-24 10:20:22 [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 10:20:22 [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 10:20:22 [debug] Moves scheduled 3563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 87, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:22 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 22142, writes 0 timeouts 0
2025-04-24 10:20:22 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36256/37175
2025-04-24 10:20:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8588, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:22 [info] currentZPosition:0.0365
2025-04-24 10:20:23 [debug] Stopped at height 0.034 mm
2025-04-24 10:20:23 [debug] Diagnostics for board 50:
2025-04-24 10:20:23 [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 10:20:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:28 ago, cause: software
2025-04-24 10:20:23 [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 10:20:23 [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 10:20:23 [debug] Moves scheduled 3567, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:23 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17397, writes 0 timeouts 0
2025-04-24 10:20:23 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35682/37177
2025-04-24 10:20:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:23 [info] currentZPosition:0.0340
2025-04-24 10:20:23 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:25 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:25 [debug] Diagnostics for board 50:
2025-04-24 10:20:25 [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 10:20:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:30 ago, cause: software
2025-04-24 10:20:25 [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 10:20:25 [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 10:20:25 [debug] Moves scheduled 3573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:25 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 21498, writes 0 timeouts 0
2025-04-24 10:20:25 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36079/37175
2025-04-24 10:20:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8618, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:25 [info] currentZPosition:0.0361
2025-04-24 10:20:26 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:26 [debug] Diagnostics for board 50:
2025-04-24 10:20:26 [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 10:20:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:31 ago, cause: software
2025-04-24 10:20:26 [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 10:20:26 [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 10:20:26 [debug] Moves scheduled 3577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:20:26 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16738, writes 0 timeouts 0
2025-04-24 10:20:26 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35850/37174
2025-04-24 10:20:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8613, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:26 [info] currentZPosition:0.0361
2025-04-24 10:20:28 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:28 [debug] Diagnostics for board 50:
2025-04-24 10:20:28 [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 10:20:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:32 ago, cause: software
2025-04-24 10:20:28 [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 10:20:28 [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 10:20:28 [debug] Moves scheduled 3581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 68, peak jitter -2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:28 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 18280, writes 0 timeouts 0
2025-04-24 10:20:28 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35916/37179
2025-04-24 10:20:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8625, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:28 [info] currentZPosition:0.0359
2025-04-24 10:20:29 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:29 [debug] Diagnostics for board 50:
2025-04-24 10:20:29 [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 10:20:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:34 ago, cause: software
2025-04-24 10:20:29 [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 10:20:29 [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 10:20:29 [debug] Moves scheduled 3585, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:29 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16648, writes 0 timeouts 0
2025-04-24 10:20:29 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35671/37177
2025-04-24 10:20:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8620, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:29 [info] currentZPosition:0.0360
2025-04-24 10:20:30 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:30 [debug] Diagnostics for board 50:
2025-04-24 10:20:30 [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 10:20:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:35 ago, cause: software
2025-04-24 10:20:30 [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 10:20:30 [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 10:20:30 [debug] Moves scheduled 3589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 88, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:30 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17959, writes 0 timeouts 0
2025-04-24 10:20:30 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35756/37176
2025-04-24 10:20:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8568, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:30 [info] currentZPosition:0.0370
2025-04-24 10:20:32 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:32 [debug] Diagnostics for board 50:
2025-04-24 10:20:32 [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 10:20:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:36 ago, cause: software
2025-04-24 10:20:32 [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 10:20:32 [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 10:20:32 [debug] Moves scheduled 3593, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 93, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:32 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16684, writes 0 timeouts 0
2025-04-24 10:20:32 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36243/37178
2025-04-24 10:20:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:32 [info] currentZPosition:0.0369
2025-04-24 10:20:33 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:33 [debug] Diagnostics for board 50:
2025-04-24 10:20:33 [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 10:20:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:38 ago, cause: software
2025-04-24 10:20:33 [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 10:20:33 [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 10:20:33 [debug] Moves scheduled 3597, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:33 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 18499, writes 0 timeouts 0
2025-04-24 10:20:33 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36331/37175
2025-04-24 10:20:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8614, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:33 [info] currentZPosition:0.0361
2025-04-24 10:20:34 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:34 [debug] Diagnostics for board 50:
2025-04-24 10:20:34 [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 10:20:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.1%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:39 ago, cause: software
2025-04-24 10:20:34 [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 10:20:34 [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 10:20:34 [debug] Moves scheduled 3601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:34 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16590, writes 0 timeouts 0
2025-04-24 10:20:34 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35693/37171
2025-04-24 10:20:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:35 [info] currentZPosition:0.0363
2025-04-24 10:20:36 [debug] Stopped at height 0.035 mm
2025-04-24 10:20:36 [debug] Diagnostics for board 50:
2025-04-24 10:20:36 [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 10:20:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:41 ago, cause: software
2025-04-24 10:20:36 [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 10:20:36 [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 10:20:36 [debug] Moves scheduled 3605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=18292
Sync err accum 93, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:36 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 18701, writes 0 timeouts 0
2025-04-24 10:20:36 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37172
2025-04-24 10:20:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:36 [info] currentZPosition:0.0349
2025-04-24 10:20:36 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:38 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:38 [debug] Diagnostics for board 50:
2025-04-24 10:20:38 [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 10:20:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:42 ago, cause: software
2025-04-24 10:20:38 [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 10:20:38 [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 10:20:38 [debug] Moves scheduled 3611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17857
Sync err accum 86, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:38 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 19762, writes 0 timeouts 0
2025-04-24 10:20:38 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 35875/37177
2025-04-24 10:20:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8562, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:38 [info] currentZPosition:0.0374
2025-04-24 10:20:39 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:39 [debug] Diagnostics for board 50:
2025-04-24 10:20:39 [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 10:20:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:44 ago, cause: software
2025-04-24 10:20:39 [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 10:20:39 [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 10:20:39 [debug] Moves scheduled 3615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 79, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:39 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 18514, writes 0 timeouts 0
2025-04-24 10:20:39 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36009/37176
2025-04-24 10:20:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8612, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:39 [info] currentZPosition:0.0365
2025-04-24 10:20:40 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:40 [debug] Diagnostics for board 50:
2025-04-24 10:20:40 [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 10:20:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:45 ago, cause: software
2025-04-24 10:20:40 [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 10:20:40 [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 10:20:40 [debug] Moves scheduled 3619, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 66, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:40 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16630, writes 0 timeouts 0
2025-04-24 10:20:40 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36075/37176
2025-04-24 10:20:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8603, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:40 [info] currentZPosition:0.0367
2025-04-24 10:20:42 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:42 [debug] Diagnostics for board 50:
2025-04-24 10:20:42 [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 10:20:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:47 ago, cause: software
2025-04-24 10:20:42 [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 10:20:42 [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 10:20:42 [debug] Moves scheduled 3623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6696, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294929195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:42 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 18244, writes 0 timeouts 0
2025-04-24 10:20:42 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35828/37170
2025-04-24 10:20:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8590, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:42 [info] currentZPosition:0.0369
2025-04-24 10:20:43 [debug] Stopped at height 0.035 mm
2025-04-24 10:20:43 [debug] Diagnostics for board 50:
2025-04-24 10:20:43 [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 10:20:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:48 ago, cause: software
2025-04-24 10:20:43 [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 10:20:43 [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 10:20:43 [debug] Moves scheduled 3627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 78, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:43 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17295, writes 0 timeouts 0
2025-04-24 10:20:43 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36269/37173
2025-04-24 10:20:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:43 [info] currentZPosition:0.0348
2025-04-24 10:20:44 [debug] Stopped at height 0.034 mm
2025-04-24 10:20:45 [debug] Stopped at height 0.038 mm
2025-04-24 10:20:45 [debug] Diagnostics for board 50:
2025-04-24 10:20:45 [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 10:20:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:50 ago, cause: software
2025-04-24 10:20:45 [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 10:20:45 [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 10:20:45 [debug] Moves scheduled 3633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 92, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:20:45 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 21265, writes 0 timeouts 0
2025-04-24 10:20:45 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36407/37173
2025-04-24 10:20:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8536, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:45 [info] currentZPosition:0.0380
2025-04-24 10:20:45 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:47 [debug] Stopped at height 0.038 mm
2025-04-24 10:20:47 [debug] Diagnostics for board 50:
2025-04-24 10:20:47 [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 10:20:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:51 ago, cause: software
2025-04-24 10:20:47 [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 10:20:47 [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 10:20:47 [debug] Moves scheduled 3639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7009, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294927937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:47 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20786, writes 0 timeouts 0
2025-04-24 10:20:47 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35722/37175
2025-04-24 10:20:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8552, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:47 [info] currentZPosition:0.0377
2025-04-24 10:20:48 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:48 [debug] Diagnostics for board 50:
2025-04-24 10:20:48 [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 10:20:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:53 ago, cause: software
2025-04-24 10:20:48 [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 10:20:48 [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 10:20:48 [debug] Moves scheduled 3643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 110, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:48 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 18406, writes 0 timeouts 0
2025-04-24 10:20:48 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36232/37178
2025-04-24 10:20:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8587, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:48 [info] currentZPosition:0.0371
2025-04-24 10:20:49 [debug] Stopped at height 0.038 mm
2025-04-24 10:20:49 [debug] Diagnostics for board 50:
2025-04-24 10:20:49 [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 10:20:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:54 ago, cause: software
2025-04-24 10:20:49 [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 10:20:49 [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 10:20:49 [debug] Moves scheduled 3647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:20:49 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16482, writes 0 timeouts 0
2025-04-24 10:20:49 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35881/37177
2025-04-24 10:20:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8561, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:49 [info] currentZPosition:0.0376
2025-04-24 10:20:51 [debug] Stopped at height 0.038 mm
2025-04-24 10:20:51 [debug] Diagnostics for board 50:
2025-04-24 10:20:51 [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 10:20:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:56 ago, cause: software
2025-04-24 10:20:51 [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 10:20:51 [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 10:20:51 [debug] Moves scheduled 3651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 116, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:20:51 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 18172, writes 0 timeouts 0
2025-04-24 10:20:51 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36080/37172
2025-04-24 10:20:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8549, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:51 [info] currentZPosition:0.0378
2025-04-24 10:20:52 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:52 [debug] Diagnostics for board 50:
2025-04-24 10:20:52 [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 10:20:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:57 ago, cause: software
2025-04-24 10:20:52 [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 10:20:52 [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 10:20:52 [debug] Moves scheduled 3655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17857
Sync err accum 112, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:52 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17232, writes 0 timeouts 0
2025-04-24 10:20:52 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 10:20:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:52 [info] currentZPosition:0.0362
2025-04-24 10:20:53 [debug] Stopped at height 0.034 mm
2025-04-24 10:20:54 [debug] Stopped at height 0.038 mm
2025-04-24 10:20:54 [debug] Diagnostics for board 50:
2025-04-24 10:20:54 [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 10:20:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:59 ago, cause: software
2025-04-24 10:20:54 [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 10:20:54 [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 10:20:54 [debug] Moves scheduled 3661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:54 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 21767, writes 0 timeouts 0
2025-04-24 10:20:54 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35909/37178
2025-04-24 10:20:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:54 [info] currentZPosition:0.0379
2025-04-24 10:20:54 [debug] Stopped at height 0.040 mm
2025-04-24 10:20:55 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:55 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:56 [debug] Stopped at height 0.036 mm
2025-04-24 10:20:56 [debug] Diagnostics for board 50:
2025-04-24 10:20:56 [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 10:20:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:01 ago, cause: software
2025-04-24 10:20:56 [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 10:20:56 [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 10:20:56 [debug] Moves scheduled 3671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 93, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:20:56 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 29311, writes 0 timeouts 0
2025-04-24 10:20:56 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 288, adv 36311/37180
2025-04-24 10:20:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8651, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:56 [info] currentZPosition:0.0363
2025-04-24 10:20:58 [debug] Stopped at height 0.038 mm
2025-04-24 10:20:58 [debug] Diagnostics for board 50:
2025-04-24 10:20:58 [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 10:20:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:02 ago, cause: software
2025-04-24 10:20:58 [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 10:20:58 [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 10:20:58 [debug] Moves scheduled 3675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
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 4294936609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:58 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17783, writes 0 timeouts 0
2025-04-24 10:20:58 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35731/37179
2025-04-24 10:20:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8585, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:58 [info] currentZPosition:0.0376
2025-04-24 10:20:58 [debug] Stopped at height 0.037 mm
2025-04-24 10:20:59 [debug] Stopped at height 0.039 mm
2025-04-24 10:20:59 [debug] Diagnostics for board 50:
2025-04-24 10:20:59 [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 10:20:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:04 ago, cause: software
2025-04-24 10:20:59 [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 10:20:59 [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 10:20:59 [debug] Moves scheduled 3681, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 60, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:20:59 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20212, writes 0 timeouts 0
2025-04-24 10:20:59 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35764/37179
2025-04-24 10:20:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8534, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4565, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:20:59 [info] currentZPosition:0.0386
2025-04-24 10:21:00 [debug] Stopped at height 0.037 mm
2025-04-24 10:21:01 [debug] Stopped at height 0.037 mm
2025-04-24 10:21:01 [debug] Diagnostics for board 50:
2025-04-24 10:21:01 [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 10:21:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:06 ago, cause: software
2025-04-24 10:21:01 [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 10:21:01 [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 10:21:01 [debug] Moves scheduled 3687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 75, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:21:01 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 22501, writes 0 timeouts 0
2025-04-24 10:21:01 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36308/37176
2025-04-24 10:21:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:01 [info] currentZPosition:0.0374
2025-04-24 10:21:02 [debug] Stopped at height 0.037 mm
2025-04-24 10:21:02 [debug] Diagnostics for board 50:
2025-04-24 10:21:02 [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 10:21:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:07 ago, cause: software
2025-04-24 10:21:02 [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 10:21:02 [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 10:21:02 [debug] Moves scheduled 3691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5067, max=17857
Sync err accum 84, peak jitter 1/2, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:02 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16806, writes 0 timeouts 0
2025-04-24 10:21:02 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35911/37173
2025-04-24 10:21:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8637, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:03 [info] currentZPosition:0.0370
2025-04-24 10:21:04 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:04 [debug] Diagnostics for board 50:
2025-04-24 10:21:04 [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 10:21:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:09 ago, cause: software
2025-04-24 10:21:04 [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 10:21:04 [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 10:21:04 [debug] Moves scheduled 3695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:04 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17690, writes 0 timeouts 0
2025-04-24 10:21:04 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36131/37175
2025-04-24 10:21:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:04 [info] currentZPosition:0.0386
2025-04-24 10:21:04 [debug] Stopped at height 0.037 mm
2025-04-24 10:21:06 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:06 [debug] Diagnostics for board 50:
2025-04-24 10:21:06 [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 10:21:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:23:10 ago, cause: software
2025-04-24 10:21:06 [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 10:21:06 [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 10:21:06 [debug] Moves scheduled 3701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:21:06 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20681, writes 0 timeouts 0
2025-04-24 10:21:06 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36121/37175
2025-04-24 10:21:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8578, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:06 [info] currentZPosition:0.0382
2025-04-24 10:21:06 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:07 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:07 [debug] Diagnostics for board 50:
2025-04-24 10:21:07 [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 10:21:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:12 ago, cause: software
2025-04-24 10:21:07 [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 10:21:07 [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 10:21:07 [debug] Moves scheduled 3707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:07 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21778, writes 0 timeouts 0
2025-04-24 10:21:07 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35981/37174
2025-04-24 10:21:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8531, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:07 [info] currentZPosition:0.0392
2025-04-24 10:21:08 [debug] Stopped at height 0.041 mm
2025-04-24 10:21:09 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:09 [debug] Diagnostics for board 50:
2025-04-24 10:21:09 [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 10:21:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:14 ago, cause: software
2025-04-24 10:21:09 [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 10:21:09 [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 10:21:09 [debug] Moves scheduled 3713, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:09 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20486, writes 0 timeouts 0
2025-04-24 10:21:09 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36334/37177
2025-04-24 10:21:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8568, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:09 [info] currentZPosition:0.0386
2025-04-24 10:21:09 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:11 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:11 [debug] Diagnostics for board 50:
2025-04-24 10:21:11 [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 10:21:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:15 ago, cause: software
2025-04-24 10:21:11 [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 10:21:11 [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 10:21:11 [debug] Moves scheduled 3719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17857
Sync err accum 80, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929379 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:11 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 22486, writes 0 timeouts 0
2025-04-24 10:21:11 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35802/37176
2025-04-24 10:21:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:11 [info] currentZPosition:0.0376
2025-04-24 10:21:12 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:12 [debug] Diagnostics for board 50:
2025-04-24 10:21:12 [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 10:21:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:17 ago, cause: software
2025-04-24 10:21:12 [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 10:21:12 [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 10:21:12 [debug] Moves scheduled 3723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:12 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16111, writes 0 timeouts 0
2025-04-24 10:21:12 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35757/37174
2025-04-24 10:21:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8528, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:12 [info] currentZPosition:0.0395
2025-04-24 10:21:12 [debug] Stopped at height 0.041 mm
2025-04-24 10:21:13 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:14 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:14 [debug] Diagnostics for board 50:
2025-04-24 10:21:14 [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 10:21:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:19 ago, cause: software
2025-04-24 10:21:14 [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 10:21:14 [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 10:21:14 [debug] Moves scheduled 3731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 67, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:14 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 26368, writes 0 timeouts 0
2025-04-24 10:21:14 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 291, adv 36366/37177
2025-04-24 10:21:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8562, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:14 [info] currentZPosition:0.0390
2025-04-24 10:21:15 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:15 [debug] Diagnostics for board 50:
2025-04-24 10:21:15 [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 10:21:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:20 ago, cause: software
2025-04-24 10:21:15 [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 10:21:15 [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 10:21:15 [debug] Moves scheduled 3735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294929855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:15 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16704, writes 0 timeouts 0
2025-04-24 10:21:15 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35947/37178
2025-04-24 10:21:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:16 [info] currentZPosition:0.0389
2025-04-24 10:21:17 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:17 [debug] Diagnostics for board 50:
2025-04-24 10:21:17 [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 10:21:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:22 ago, cause: software
2025-04-24 10:21:17 [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 10:21:17 [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 10:21:17 [debug] Moves scheduled 3739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17857
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:17 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 18368, writes 0 timeouts 0
2025-04-24 10:21:17 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36204/37171
2025-04-24 10:21:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:17 [info] currentZPosition:0.0382
2025-04-24 10:21:18 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:18 [debug] Diagnostics for board 50:
2025-04-24 10:21:18 [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 10:21:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:23 ago, cause: software
2025-04-24 10:21:18 [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 10:21:18 [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 10:21:18 [debug] Moves scheduled 3743, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:18 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16696, writes 0 timeouts 0
2025-04-24 10:21:18 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36145/37177
2025-04-24 10:21:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8617, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:18 [info] currentZPosition:0.0380
2025-04-24 10:21:20 [debug] Stopped at height 0.037 mm
2025-04-24 10:21:20 [debug] Diagnostics for board 50:
2025-04-24 10:21:20 [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 10:21:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:25 ago, cause: software
2025-04-24 10:21:20 [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 10:21:20 [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 10:21:20 [debug] Moves scheduled 3747, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294927928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:20 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 18635, writes 0 timeouts 0
2025-04-24 10:21:20 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36030/37177
2025-04-24 10:21:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:20 [info] currentZPosition:0.0367
2025-04-24 10:21:20 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:21 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:21 [debug] Diagnostics for board 50:
2025-04-24 10:21:21 [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 10:21:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:26 ago, cause: software
2025-04-24 10:21:21 [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 10:21:21 [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 10:21:21 [debug] Moves scheduled 3753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:21 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 19889, writes 0 timeouts 0
2025-04-24 10:21:21 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36308/37174
2025-04-24 10:21:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:21 [info] currentZPosition:0.0388
2025-04-24 10:21:23 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:23 [debug] Diagnostics for board 50:
2025-04-24 10:21:23 [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 10:21:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:28 ago, cause: software
2025-04-24 10:21:23 [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 10:21:23 [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 10:21:23 [debug] Moves scheduled 3757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 88, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:23 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 18003, writes 0 timeouts 0
2025-04-24 10:21:23 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35842/37175
2025-04-24 10:21:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8559, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:23 [info] currentZPosition:0.0392
2025-04-24 10:21:24 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:24 [debug] Diagnostics for board 50:
2025-04-24 10:21:24 [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 10:21:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:29 ago, cause: software
2025-04-24 10:21:24 [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 10:21:24 [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 10:21:24 [debug] Moves scheduled 3761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=7009, max=17857
Sync err accum 94, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:21:24 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16851, writes 0 timeouts 0
2025-04-24 10:21:24 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35744/37176
2025-04-24 10:21:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8588, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:24 [info] currentZPosition:0.0386
2025-04-24 10:21:26 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:26 [debug] Diagnostics for board 50:
2025-04-24 10:21:26 [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 10:21:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:30 ago, cause: software
2025-04-24 10:21:26 [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 10:21:26 [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 10:21:26 [debug] Moves scheduled 3765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:26 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 18418, writes 0 timeouts 0
2025-04-24 10:21:26 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35683/37173
2025-04-24 10:21:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:26 [info] currentZPosition:0.0377
2025-04-24 10:21:27 [debug] Stopped at height 0.040 mm
2025-04-24 10:21:27 [debug] Diagnostics for board 50:
2025-04-24 10:21:27 [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 10:21:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:32 ago, cause: software
2025-04-24 10:21:27 [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 10:21:27 [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 10:21:27 [debug] Moves scheduled 3769, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:27 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16001, writes 0 timeouts 0
2025-04-24 10:21:27 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36318/37176
2025-04-24 10:21:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8527, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:27 [info] currentZPosition:0.0399
2025-04-24 10:21:27 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:29 [debug] Stopped at height 0.040 mm
2025-04-24 10:21:29 [debug] Diagnostics for board 50:
2025-04-24 10:21:29 [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 10:21:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:33 ago, cause: software
2025-04-24 10:21:29 [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 10:21:29 [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 10:21:29 [debug] Moves scheduled 3775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 94, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:29 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 22078, writes 0 timeouts 0
2025-04-24 10:21:29 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36260/37177
2025-04-24 10:21:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8537, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:29 [info] currentZPosition:0.0398
2025-04-24 10:21:30 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:30 [debug] Diagnostics for board 50:
2025-04-24 10:21:30 [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 10:21:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:35 ago, cause: software
2025-04-24 10:21:30 [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 10:21:30 [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 10:21:30 [debug] Moves scheduled 3779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 90, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:30 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16841, writes 0 timeouts 0
2025-04-24 10:21:30 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37177
2025-04-24 10:21:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8556, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:30 [info] currentZPosition:0.0394
2025-04-24 10:21:31 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:31 [debug] Diagnostics for board 50:
2025-04-24 10:21:31 [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 10:21:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:36 ago, cause: software
2025-04-24 10:21:31 [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 10:21:31 [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 10:21:31 [debug] Moves scheduled 3783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 81, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:21:31 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 18185, writes 0 timeouts 0
2025-04-24 10:21:31 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36111/37172
2025-04-24 10:21:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8556, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:32 [info] currentZPosition:0.0394
2025-04-24 10:21:33 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:33 [debug] Diagnostics for board 50:
2025-04-24 10:21:33 [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 10:21:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:38 ago, cause: software
2025-04-24 10:21:33 [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 10:21:33 [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 10:21:33 [debug] Moves scheduled 3787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 69, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:21:33 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17172, writes 0 timeouts 0
2025-04-24 10:21:33 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36296/37178
2025-04-24 10:21:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:33 [info] currentZPosition:0.0379
2025-04-24 10:21:33 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:35 [debug] Stopped at height 0.040 mm
2025-04-24 10:21:35 [debug] Diagnostics for board 50:
2025-04-24 10:21:35 [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 10:21:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:39 ago, cause: software
2025-04-24 10:21:35 [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 10:21:35 [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 10:21:35 [debug] Moves scheduled 3793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 68, peak jitter -3/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:35 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 21437, writes 0 timeouts 0
2025-04-24 10:21:35 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35926/37178
2025-04-24 10:21:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8534, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:35 [info] currentZPosition:0.0399
2025-04-24 10:21:35 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:36 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:36 [debug] Diagnostics for board 50:
2025-04-24 10:21:36 [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 10:21:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:41 ago, cause: software
2025-04-24 10:21:36 [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 10:21:36 [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 10:21:36 [debug] Moves scheduled 3799, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 82, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:36 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20801, writes 0 timeouts 0
2025-04-24 10:21:36 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 35727/37174
2025-04-24 10:21:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:36 [info] currentZPosition:0.0393
2025-04-24 10:21:38 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:38 [debug] Diagnostics for board 50:
2025-04-24 10:21:38 [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 10:21:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:42 ago, cause: software
2025-04-24 10:21:38 [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 10:21:38 [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 10:21:38 [debug] Moves scheduled 3803, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 96, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294933472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7
2025-04-24 10:21:38 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 18118, writes 0 timeouts 0
2025-04-24 10:21:38 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35749/37172
2025-04-24 10:21:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:38 [info] currentZPosition:0.0394
2025-04-24 10:21:39 [debug] Stopped at height 0.041 mm
2025-04-24 10:21:39 [debug] Diagnostics for board 50:
2025-04-24 10:21:39 [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 10:21:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:44 ago, cause: software
2025-04-24 10:21:39 [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 10:21:39 [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 10:21:39 [debug] Moves scheduled 3807, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=17045
Sync err accum 104, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:39 [debug] Driver 0: pos -3393, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16084, writes 0 timeouts 0
2025-04-24 10:21:39 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35891/37169
2025-04-24 10:21:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8467, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:39 [info] currentZPosition:0.0414
2025-04-24 10:21:39 [debug] Stopped at height 0.041 mm
2025-04-24 10:21:41 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:41 [debug] Diagnostics for board 50:
2025-04-24 10:21:41 [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 10:21:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:46 ago, cause: software
2025-04-24 10:21:41 [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 10:21:41 [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 10:21:41 [debug] Moves scheduled 3813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 113, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:41 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 22666, writes 0 timeouts 0
2025-04-24 10:21:41 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36330/37174
2025-04-24 10:21:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8571, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:41 [info] currentZPosition:0.0394
2025-04-24 10:21:41 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:42 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:42 [debug] Diagnostics for board 50:
2025-04-24 10:21:42 [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 10:21:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:47 ago, cause: software
2025-04-24 10:21:42 [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 10:21:42 [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 10:21:42 [debug] Moves scheduled 3819, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 113, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:42 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21061, writes 0 timeouts 0
2025-04-24 10:21:42 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36094/37169
2025-04-24 10:21:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8648, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:43 [info] currentZPosition:0.0381
2025-04-24 10:21:44 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:44 [debug] Diagnostics for board 50:
2025-04-24 10:21:44 [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 10:21:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:49 ago, cause: software
2025-04-24 10:21:44 [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 10:21:44 [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 10:21:44 [debug] Moves scheduled 3823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 113, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:44 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17659, writes 0 timeouts 0
2025-04-24 10:21:44 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36160/37175
2025-04-24 10:21:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8571, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:44 [info] currentZPosition:0.0395
2025-04-24 10:21:44 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:45 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:45 [debug] Diagnostics for board 50:
2025-04-24 10:21:45 [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 10:21:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:50 ago, cause: software
2025-04-24 10:21:45 [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 10:21:45 [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 10:21:45 [debug] Moves scheduled 3829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 109, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:45 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20595, writes 0 timeouts 0
2025-04-24 10:21:45 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36294/37178
2025-04-24 10:21:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8579, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:46 [info] currentZPosition:0.0395
2025-04-24 10:21:47 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:47 [debug] Diagnostics for board 50:
2025-04-24 10:21:47 [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 10:21:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:52 ago, cause: software
2025-04-24 10:21:47 [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 10:21:47 [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 10:21:47 [debug] Moves scheduled 3833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6302, max=17045
Sync err accum 101, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:21:47 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 18245, writes 0 timeouts 0
2025-04-24 10:21:47 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35985/37176
2025-04-24 10:21:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8602, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:47 [info] currentZPosition:0.0391
2025-04-24 10:21:48 [debug] Stopped at height 0.038 mm
2025-04-24 10:21:48 [debug] Diagnostics for board 50:
2025-04-24 10:21:48 [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 10:21:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:53 ago, cause: software
2025-04-24 10:21:48 [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 10:21:48 [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 10:21:48 [debug] Moves scheduled 3837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 88, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:48 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17128, writes 0 timeouts 0
2025-04-24 10:21:48 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35700/37173
2025-04-24 10:21:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:48 [info] currentZPosition:0.0376
2025-04-24 10:21:49 [debug] Stopped at height 0.040 mm
2025-04-24 10:21:50 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:50 [debug] Diagnostics for board 50:
2025-04-24 10:21:50 [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 10:21:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:55 ago, cause: software
2025-04-24 10:21:50 [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 10:21:50 [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 10:21:50 [debug] Moves scheduled 3843, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 72, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:50 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 21360, writes 0 timeouts 0
2025-04-24 10:21:50 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35809/37173
2025-04-24 10:21:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:50 [info] currentZPosition:0.0395
2025-04-24 10:21:51 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:51 [debug] Diagnostics for board 50:
2025-04-24 10:21:51 [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 10:21:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:56 ago, cause: software
2025-04-24 10:21:51 [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 10:21:51 [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 10:21:51 [debug] Moves scheduled 3847, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 58, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:51 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16802, writes 0 timeouts 0
2025-04-24 10:21:51 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35900/37175
2025-04-24 10:21:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8588, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:51 [info] currentZPosition:0.0393
2025-04-24 10:21:53 [debug] Stopped at height 0.039 mm
2025-04-24 10:21:53 [debug] Diagnostics for board 50:
2025-04-24 10:21:53 [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 10:21:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:58 ago, cause: software
2025-04-24 10:21:53 [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 10:21:53 [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 10:21:53 [debug] Moves scheduled 3851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17441
Sync err accum 72, peak jitter 0/4, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:21:53 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 18275, writes 0 timeouts 0
2025-04-24 10:21:53 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36365/37173
2025-04-24 10:21:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8621, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:53 [info] currentZPosition:0.0387
2025-04-24 10:21:54 [debug] Stopped at height 0.040 mm
2025-04-24 10:21:54 [debug] Diagnostics for board 50:
2025-04-24 10:21:54 [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 10:21:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:59 ago, cause: software
2025-04-24 10:21:54 [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 10:21:54 [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 10:21:54 [debug] Moves scheduled 3855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=6521, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:21:54 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16313, writes 0 timeouts 0
2025-04-24 10:21:54 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37171
2025-04-24 10:21:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8557, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:54 [info] currentZPosition:0.0400
2025-04-24 10:21:55 [debug] Stopped at height 0.037 mm
2025-04-24 10:21:55 [debug] Stopped at height 0.037 mm
2025-04-24 10:21:56 [debug] Stopped at height 0.041 mm
2025-04-24 10:21:56 [debug] Diagnostics for board 50:
2025-04-24 10:21:56 [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 10:21:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:01 ago, cause: software
2025-04-24 10:21:56 [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 10:21:56 [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 10:21:56 [debug] Moves scheduled 3863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17857
Sync err accum 96, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294928804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:21:56 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 26085, writes 0 timeouts 0
2025-04-24 10:21:56 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36206/37173
2025-04-24 10:21:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8541, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:56 [info] currentZPosition:0.0406
2025-04-24 10:21:57 [debug] Stopped at height 0.041 mm
2025-04-24 10:21:58 [debug] Stopped at height 0.040 mm
2025-04-24 10:21:58 [debug] Diagnostics for board 50:
2025-04-24 10:21:58 [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 10:21:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:03 ago, cause: software
2025-04-24 10:21:58 [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 10:21:58 [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 10:21:58 [debug] Moves scheduled 3869, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:58 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20828, writes 0 timeouts 0
2025-04-24 10:21:58 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36246/37175
2025-04-24 10:21:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8595, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:58 [info] currentZPosition:0.0397
2025-04-24 10:21:59 [debug] Stopped at height 0.040 mm
2025-04-24 10:21:59 [debug] Diagnostics for board 50:
2025-04-24 10:21:59 [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 10:21:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:04 ago, cause: software
2025-04-24 10:21:59 [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 10:21:59 [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 10:21:59 [debug] Moves scheduled 3873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6465, max=17441
Sync err accum 101, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:21:59 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17884, writes 0 timeouts 0
2025-04-24 10:21:59 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36032/37178
2025-04-24 10:21:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8551, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:21:59 [info] currentZPosition:0.0405
2025-04-24 10:22:01 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:01 [debug] Diagnostics for board 50:
2025-04-24 10:22:01 [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 10:22:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:05 ago, cause: software
2025-04-24 10:22:01 [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 10:22:01 [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 10:22:01 [debug] Moves scheduled 3877, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=18292
Sync err accum 98, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:01 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16709, writes 0 timeouts 0
2025-04-24 10:22:01 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35708/37175
2025-04-24 10:22:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8549, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:01 [info] currentZPosition:0.0405
2025-04-24 10:22:02 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:02 [debug] Diagnostics for board 50:
2025-04-24 10:22:02 [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 10:22:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:07 ago, cause: software
2025-04-24 10:22:02 [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 10:22:02 [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 10:22:02 [debug] Moves scheduled 3881, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6756, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:02 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 18294, writes 0 timeouts 0
2025-04-24 10:22:02 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35855/37171
2025-04-24 10:22:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:02 [info] currentZPosition:0.0400
2025-04-24 10:22:03 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:03 [debug] Diagnostics for board 50:
2025-04-24 10:22:03 [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 10:22:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:08 ago, cause: software
2025-04-24 10:22:03 [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 10:22:03 [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 10:22:03 [debug] Moves scheduled 3885, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=61, frequency (Hz): min=6637, max=18292
Sync err accum 83, peak jitter -2/0, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:03 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16442, writes 0 timeouts 0
2025-04-24 10:22:03 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35859/37174
2025-04-24 10:22:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8530, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:04 [info] currentZPosition:0.0409
2025-04-24 10:22:05 [debug] Stopped at height 0.038 mm
2025-04-24 10:22:05 [debug] Diagnostics for board 50:
2025-04-24 10:22:05 [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 10:22:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:10 ago, cause: software
2025-04-24 10:22:05 [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 10:22:05 [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 10:22:05 [debug] Moves scheduled 3889, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17857
Sync err accum 73, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:22:05 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 18994, writes 0 timeouts 0
2025-04-24 10:22:05 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35687/37176
2025-04-24 10:22:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8680, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:05 [info] currentZPosition:0.0380
2025-04-24 10:22:05 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 10:22:06 [debug] Stopped at height 0.042 mm
2025-04-24 10:22:06 [debug] Diagnostics for board 50:
2025-04-24 10:22:06 [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 10:22:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:11 ago, cause: software
2025-04-24 10:22:06 [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 10:22:06 [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 10:22:06 [debug] Moves scheduled 3894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6000, max=17857
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:06 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 18741, writes 0 timeouts 0
2025-04-24 10:22:06 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36061/37178
2025-04-24 10:22:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8494, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:07 [info] currentZPosition:0.0416
2025-04-24 10:22:08 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:08 [debug] Diagnostics for board 50:
2025-04-24 10:22:08 [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 10:22:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:13 ago, cause: software
2025-04-24 10:22:08 [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 10:22:08 [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 10:22:08 [debug] Moves scheduled 3898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter 0/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:08 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 18496, writes 0 timeouts 0
2025-04-24 10:22:08 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36254/37173
2025-04-24 10:22:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8563, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:08 [info] currentZPosition:0.0403
2025-04-24 10:22:08 [debug] Stopped at height 0.039 mm
2025-04-24 10:22:10 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:10 [debug] Diagnostics for board 50:
2025-04-24 10:22:10 [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 10:22:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:14 ago, cause: software
2025-04-24 10:22:10 [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 10:22:10 [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 10:22:10 [debug] Moves scheduled 3904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=510, max=18292
Sync err accum 85, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:22:10 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20768, writes 11 timeouts 1
2025-04-24 10:22:10 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36207/37175
2025-04-24 10:22:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:10 [info] currentZPosition:0.0402
2025-04-24 10:22:11 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:11 [debug] Diagnostics for board 50:
2025-04-24 10:22:11 [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 10:22:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:16 ago, cause: software
2025-04-24 10:22:11 [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 10:22:11 [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 10:22:11 [debug] Moves scheduled 3908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=18292
Sync err accum 93, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:11 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 18055, writes 0 timeouts 0
2025-04-24 10:22:11 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36082/37172
2025-04-24 10:22:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8565, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:11 [info] currentZPosition:0.0404
2025-04-24 10:22:12 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:12 [debug] Diagnostics for board 50:
2025-04-24 10:22:12 [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 10:22:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:17 ago, cause: software
2025-04-24 10:22:12 [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 10:22:12 [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 10:22:12 [debug] Moves scheduled 3912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 100, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:12 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16796, writes 0 timeouts 0
2025-04-24 10:22:12 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36411/37169
2025-04-24 10:22:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:12 [info] currentZPosition:0.0401
2025-04-24 10:22:14 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:14 [debug] Diagnostics for board 50:
2025-04-24 10:22:14 [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 10:22:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:19 ago, cause: software
2025-04-24 10:22:14 [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 10:22:14 [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 10:22:14 [debug] Moves scheduled 3916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:14 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 18199, writes 0 timeouts 0
2025-04-24 10:22:14 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35911/37173
2025-04-24 10:22:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:14 [info] currentZPosition:0.0396
2025-04-24 10:22:15 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:15 [debug] Diagnostics for board 50:
2025-04-24 10:22:15 [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 10:22:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:20 ago, cause: software
2025-04-24 10:22:15 [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 10:22:15 [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 10:22:15 [debug] Moves scheduled 3920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17857
Sync err accum 105, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:15 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16574, writes 0 timeouts 0
2025-04-24 10:22:15 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35814/37173
2025-04-24 10:22:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:15 [info] currentZPosition:0.0400
2025-04-24 10:22:17 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:17 [debug] Diagnostics for board 50:
2025-04-24 10:22:17 [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 10:22:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:21 ago, cause: software
2025-04-24 10:22:17 [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 10:22:17 [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 10:22:17 [debug] Moves scheduled 3924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 105, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:17 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 18139, writes 0 timeouts 0
2025-04-24 10:22:17 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35759/37171
2025-04-24 10:22:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8590, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:17 [info] currentZPosition:0.0399
2025-04-24 10:22:18 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:18 [debug] Diagnostics for board 50:
2025-04-24 10:22:18 [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 10:22:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:23 ago, cause: software
2025-04-24 10:22:18 [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 10:22:18 [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 10:22:18 [debug] Moves scheduled 3928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5639, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:18 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16608, writes 0 timeouts 0
2025-04-24 10:22:18 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36047/37172
2025-04-24 10:22:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:18 [info] currentZPosition:0.0402
2025-04-24 10:22:19 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:19 [debug] Diagnostics for board 50:
2025-04-24 10:22:19 [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 10:22:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:24 ago, cause: software
2025-04-24 10:22:19 [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 10:22:19 [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 10:22:19 [debug] Moves scheduled 3932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5813, max=17045
Sync err accum 94, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:19 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17972, writes 0 timeouts 0
2025-04-24 10:22:19 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36333/37174
2025-04-24 10:22:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8570, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:19 [info] currentZPosition:0.0403
2025-04-24 10:22:21 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:21 [debug] Diagnostics for board 50:
2025-04-24 10:22:21 [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 10:22:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:26 ago, cause: software
2025-04-24 10:22:21 [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 10:22:21 [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 10:22:21 [debug] Moves scheduled 3936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6696, max=17045
Sync err accum 80, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:22:21 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16570, writes 0 timeouts 0
2025-04-24 10:22:21 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36200/37173
2025-04-24 10:22:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:21 [info] currentZPosition:0.0407
2025-04-24 10:22:22 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:22 [debug] Diagnostics for board 50:
2025-04-24 10:22:22 [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 10:22:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:27 ago, cause: software
2025-04-24 10:22:22 [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 10:22:22 [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 10:22:22 [debug] Moves scheduled 3940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6944, max=18292
Sync err accum 66, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:22 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 18043, writes 0 timeouts 0
2025-04-24 10:22:22 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36157/37173
2025-04-24 10:22:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8531, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:22 [info] currentZPosition:0.0410
2025-04-24 10:22:24 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:24 [debug] Diagnostics for board 50:
2025-04-24 10:22:24 [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 10:22:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:28 ago, cause: software
2025-04-24 10:22:24 [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 10:22:24 [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 10:22:24 [debug] Moves scheduled 3944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:24 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16825, writes 0 timeouts 0
2025-04-24 10:22:24 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36084/37175
2025-04-24 10:22:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:24 [info] currentZPosition:0.0403
2025-04-24 10:22:25 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:25 [debug] Diagnostics for board 50:
2025-04-24 10:22:25 [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 10:22:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:30 ago, cause: software
2025-04-24 10:22:25 [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 10:22:25 [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 10:22:25 [debug] Moves scheduled 3948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 81, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:25 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17970, writes 0 timeouts 0
2025-04-24 10:22:25 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35967/37171
2025-04-24 10:22:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8554, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:25 [info] currentZPosition:0.0406
2025-04-24 10:22:26 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:26 [debug] Diagnostics for board 50:
2025-04-24 10:22:26 [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 10:22:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:31 ago, cause: software
2025-04-24 10:22:26 [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 10:22:26 [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 10:22:26 [debug] Moves scheduled 3952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 93, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:26 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16528, writes 0 timeouts 0
2025-04-24 10:22:26 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35932/37171
2025-04-24 10:22:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8529, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:26 [info] currentZPosition:0.0412
2025-04-24 10:22:28 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:28 [debug] Diagnostics for board 50:
2025-04-24 10:22:28 [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 10:22:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:33 ago, cause: software
2025-04-24 10:22:28 [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 10:22:28 [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 10:22:28 [debug] Moves scheduled 3956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 105, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:28 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 18242, writes 0 timeouts 0
2025-04-24 10:22:28 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35801/37173
2025-04-24 10:22:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8564, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:28 [info] currentZPosition:0.0405
2025-04-24 10:22:29 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:29 [debug] Diagnostics for board 50:
2025-04-24 10:22:29 [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 10:22:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:34 ago, cause: software
2025-04-24 10:22:29 [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 10:22:29 [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 10:22:29 [debug] Moves scheduled 3960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 111, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:29 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16739, writes 0 timeouts 0
2025-04-24 10:22:29 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36128/37172
2025-04-24 10:22:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:29 [info] currentZPosition:0.0403
2025-04-24 10:22:31 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:31 [debug] Diagnostics for board 50:
2025-04-24 10:22:31 [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 10:22:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:35 ago, cause: software
2025-04-24 10:22:31 [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 10:22:31 [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 10:22:31 [debug] Moves scheduled 3964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6302, max=17441
Sync err accum 116, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:31 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 18211, writes 0 timeouts 0
2025-04-24 10:22:31 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36356/37172
2025-04-24 10:22:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8585, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:31 [info] currentZPosition:0.0401
2025-04-24 10:22:32 [debug] Stopped at height 0.039 mm
2025-04-24 10:22:32 [debug] Diagnostics for board 50:
2025-04-24 10:22:32 [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 10:22:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:37 ago, cause: software
2025-04-24 10:22:32 [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 10:22:32 [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 10:22:32 [debug] Moves scheduled 3968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 117, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:32 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16928, writes 0 timeouts 0
2025-04-24 10:22:32 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36288/37172
2025-04-24 10:22:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8632, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:32 [info] currentZPosition:0.0392
2025-04-24 10:22:33 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:33 [debug] Diagnostics for board 50:
2025-04-24 10:22:33 [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 10:22:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:38 ago, cause: software
2025-04-24 10:22:33 [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 10:22:33 [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 10:22:33 [debug] Moves scheduled 3972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:33 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17807, writes 0 timeouts 0
2025-04-24 10:22:33 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36209/37177
2025-04-24 10:22:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8596, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:33 [info] currentZPosition:0.0399
2025-04-24 10:22:35 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:35 [debug] Diagnostics for board 50:
2025-04-24 10:22:35 [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 10:22:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:39 ago, cause: software
2025-04-24 10:22:35 [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 10:22:35 [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 10:22:35 [debug] Moves scheduled 3976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 108, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:35 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16552, writes 0 timeouts 0
2025-04-24 10:22:35 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35705/37171
2025-04-24 10:22:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:35 [info] currentZPosition:0.0403
2025-04-24 10:22:36 [debug] Stopped at height 0.039 mm
2025-04-24 10:22:36 [debug] Diagnostics for board 50:
2025-04-24 10:22:36 [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 10:22:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:41 ago, cause: software
2025-04-24 10:22:36 [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 10:22:36 [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 10:22:36 [debug] Moves scheduled 3980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:22:36 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 18347, writes 0 timeouts 0
2025-04-24 10:22:36 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36032/37175
2025-04-24 10:22:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:36 [info] currentZPosition:0.0393
2025-04-24 10:22:37 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:37 [debug] Diagnostics for board 50:
2025-04-24 10:22:37 [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 10:22:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:42 ago, cause: software
2025-04-24 10:22:37 [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 10:22:37 [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 10:22:37 [debug] Moves scheduled 3984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 87, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:37 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16443, writes 0 timeouts 0
2025-04-24 10:22:37 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35909/37174
2025-04-24 10:22:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8590, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:38 [info] currentZPosition:0.0400
2025-04-24 10:22:39 [debug] Stopped at height 0.039 mm
2025-04-24 10:22:39 [debug] Diagnostics for board 50:
2025-04-24 10:22:39 [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 10:22:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:44 ago, cause: software
2025-04-24 10:22:39 [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 10:22:39 [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 10:22:39 [debug] Moves scheduled 3988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 71, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:39 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 18270, writes 0 timeouts 0
2025-04-24 10:22:39 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35864/37176
2025-04-24 10:22:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:39 [info] currentZPosition:0.0391
2025-04-24 10:22:40 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:40 [debug] Diagnostics for board 50:
2025-04-24 10:22:40 [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 10:22:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:45 ago, cause: software
2025-04-24 10:22:40 [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 10:22:40 [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 10:22:40 [debug] Moves scheduled 3992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=637, max=17045
Sync err accum 60, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:40 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16270, writes 11 timeouts 1
2025-04-24 10:22:40 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36073/37177
2025-04-24 10:22:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8577, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:40 [info] currentZPosition:0.0402
2025-04-24 10:22:42 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:42 [debug] Diagnostics for board 50:
2025-04-24 10:22:42 [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 10:22:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:46 ago, cause: software
2025-04-24 10:22:42 [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 10:22:42 [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 10:22:42 [debug] Moves scheduled 3996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 76, peak jitter 0/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:42 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 18103, writes 0 timeouts 0
2025-04-24 10:22:42 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 37148/37175
2025-04-24 10:22:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8592, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:42 [info] currentZPosition:0.0399
2025-04-24 10:22:43 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:43 [debug] Diagnostics for board 50:
2025-04-24 10:22:43 [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 10:22:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:48 ago, cause: software
2025-04-24 10:22:43 [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 10:22:43 [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 10:22:43 [debug] Moves scheduled 4000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:43 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16639, writes 0 timeouts 0
2025-04-24 10:22:43 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36272/37169
2025-04-24 10:22:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8586, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:43 [info] currentZPosition:0.0401
2025-04-24 10:22:44 [debug] Stopped at height 0.038 mm
2025-04-24 10:22:44 [debug] Diagnostics for board 50:
2025-04-24 10:22:44 [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 10:22:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:49 ago, cause: software
2025-04-24 10:22:44 [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 10:22:44 [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 10:22:44 [debug] Moves scheduled 4004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:44 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 18511, writes 0 timeouts 0
2025-04-24 10:22:44 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36237/37169
2025-04-24 10:22:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8670, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:45 [info] currentZPosition:0.0384
2025-04-24 10:22:45 [debug] Stopped at height 0.039 mm
2025-04-24 10:22:46 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:46 [debug] Diagnostics for board 50:
2025-04-24 10:22:46 [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 10:22:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:51 ago, cause: software
2025-04-24 10:22:46 [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 10:22:46 [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 10:22:46 [debug] Moves scheduled 4010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17441
Sync err accum 99, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:46 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 19853, writes 0 timeouts 0
2025-04-24 10:22:46 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35687/37174
2025-04-24 10:22:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:46 [info] currentZPosition:0.0408
2025-04-24 10:22:46 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:48 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:48 [debug] Diagnostics for board 50:
2025-04-24 10:22:48 [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 10:22:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:53 ago, cause: software
2025-04-24 10:22:48 [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 10:22:48 [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 10:22:48 [debug] Moves scheduled 4016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 99, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:48 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 22247, writes 0 timeouts 0
2025-04-24 10:22:48 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36088/37170
2025-04-24 10:22:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8621, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:48 [info] currentZPosition:0.0396
2025-04-24 10:22:49 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:49 [debug] Diagnostics for board 50:
2025-04-24 10:22:49 [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 10:22:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:54 ago, cause: software
2025-04-24 10:22:49 [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 10:22:49 [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 10:22:49 [debug] Moves scheduled 4020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 97, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:49 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16162, writes 0 timeouts 0
2025-04-24 10:22:49 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35842/37175
2025-04-24 10:22:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:49 [info] currentZPosition:0.0411
2025-04-24 10:22:50 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:51 [debug] Stopped at height 0.040 mm
2025-04-24 10:22:51 [debug] Diagnostics for board 50:
2025-04-24 10:22:51 [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 10:22:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:56 ago, cause: software
2025-04-24 10:22:51 [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 10:22:51 [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 10:22:51 [debug] Moves scheduled 4026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
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 4294933898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:51 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 22071, writes 0 timeouts 0
2025-04-24 10:22:51 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35912/37176
2025-04-24 10:22:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8586, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:51 [info] currentZPosition:0.0404
2025-04-24 10:22:52 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:52 [debug] Diagnostics for board 50:
2025-04-24 10:22:52 [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 10:22:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:57 ago, cause: software
2025-04-24 10:22:52 [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 10:22:52 [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 10:22:52 [debug] Moves scheduled 4030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=560, max=17857
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:22:52 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16314, writes 11 timeouts 1
2025-04-24 10:22:52 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36046/37175
2025-04-24 10:22:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 794
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8529, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:52 [info] currentZPosition:0.0415
2025-04-24 10:22:54 [debug] Stopped at height 0.039 mm
2025-04-24 10:22:54 [debug] Diagnostics for board 50:
2025-04-24 10:22:54 [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 10:22:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:58 ago, cause: software
2025-04-24 10:22:54 [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 10:22:54 [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 10:22:54 [debug] Moves scheduled 4034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:54 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 18558, writes 0 timeouts 0
2025-04-24 10:22:54 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35732/37177
2025-04-24 10:22:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8628, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:54 [info] currentZPosition:0.0395
2025-04-24 10:22:54 [debug] Stopped at height 0.038 mm
2025-04-24 10:22:55 [debug] Stopped at height 0.039 mm
2025-04-24 10:22:55 [debug] Diagnostics for board 50:
2025-04-24 10:22:55 [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 10:22:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:00 ago, cause: software
2025-04-24 10:22:55 [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 10:22:55 [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 10:22:55 [debug] Moves scheduled 4040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=494, max=18292
Sync err accum 61, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:55 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 20796, writes 11 timeouts 1
2025-04-24 10:22:55 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36208/37178
2025-04-24 10:22:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:55 [info] currentZPosition:0.0394
2025-04-24 10:22:57 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:57 [debug] Diagnostics for board 50:
2025-04-24 10:22:57 [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 10:22:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:02 ago, cause: software
2025-04-24 10:22:57 [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 10:22:57 [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 10:22:57 [debug] Moves scheduled 4044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 75, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:22:57 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17477, writes 0 timeouts 0
2025-04-24 10:22:57 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36299/37170
2025-04-24 10:22:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8555, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:57 [info] currentZPosition:0.0411
2025-04-24 10:22:57 [debug] Stopped at height 0.043 mm
2025-04-24 10:22:58 [debug] Stopped at height 0.041 mm
2025-04-24 10:22:58 [debug] Diagnostics for board 50:
2025-04-24 10:22:58 [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 10:22:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:03 ago, cause: software
2025-04-24 10:22:58 [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 10:22:58 [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 10:22:58 [debug] Moves scheduled 4050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6147, max=17045
Sync err accum 90, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:22:58 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20445, writes 0 timeouts 0
2025-04-24 10:22:58 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36359/37169
2025-04-24 10:22:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8579, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:22:58 [info] currentZPosition:0.0408
2025-04-24 10:23:00 [debug] Stopped at height 0.039 mm
2025-04-24 10:23:00 [debug] Diagnostics for board 50:
2025-04-24 10:23:00 [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 10:23:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:05 ago, cause: software
2025-04-24 10:23:00 [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 10:23:00 [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 10:23:00 [debug] Moves scheduled 4054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 100, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:00 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 18544, writes 0 timeouts 0
2025-04-24 10:23:00 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36126/37171
2025-04-24 10:23:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8673, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:00 [info] currentZPosition:0.0390
2025-04-24 10:23:00 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:01 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:01 [debug] Diagnostics for board 50:
2025-04-24 10:23:01 [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 10:23:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:06 ago, cause: software
2025-04-24 10:23:01 [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 10:23:01 [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 10:23:01 [debug] Moves scheduled 4060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 111, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:01 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20040, writes 0 timeouts 0
2025-04-24 10:23:01 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35822/37175
2025-04-24 10:23:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8591, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:02 [info] currentZPosition:0.0407
2025-04-24 10:23:03 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:03 [debug] Diagnostics for board 50:
2025-04-24 10:23:03 [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 10:23:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:08 ago, cause: software
2025-04-24 10:23:03 [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 10:23:03 [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 10:23:03 [debug] Moves scheduled 4064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 118, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:03 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 18225, writes 0 timeouts 0
2025-04-24 10:23:03 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35960/37176
2025-04-24 10:23:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:03 [info] currentZPosition:0.0400
2025-04-24 10:23:04 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:04 [debug] Diagnostics for board 50:
2025-04-24 10:23:04 [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 10:23:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:09 ago, cause: software
2025-04-24 10:23:04 [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 10:23:04 [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 10:23:04 [debug] Moves scheduled 4068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 121, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:04 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16572, writes 0 timeouts 0
2025-04-24 10:23:04 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35984/37175
2025-04-24 10:23:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8613, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:04 [info] currentZPosition:0.0403
2025-04-24 10:23:06 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:06 [debug] Diagnostics for board 50:
2025-04-24 10:23:06 [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 10:23:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:10 ago, cause: software
2025-04-24 10:23:06 [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 10:23:06 [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 10:23:06 [debug] Moves scheduled 4072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 118, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:06 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17793, writes 0 timeouts 0
2025-04-24 10:23:06 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35778/37174
2025-04-24 10:23:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:06 [info] currentZPosition:0.0408
2025-04-24 10:23:07 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:07 [debug] Diagnostics for board 50:
2025-04-24 10:23:07 [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 10:23:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:12 ago, cause: software
2025-04-24 10:23:07 [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 10:23:07 [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 10:23:07 [debug] Moves scheduled 4076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:07 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16737, writes 0 timeouts 0
2025-04-24 10:23:07 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36145/37172
2025-04-24 10:23:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8595, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:07 [info] currentZPosition:0.0406
2025-04-24 10:23:08 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:08 [debug] Diagnostics for board 50:
2025-04-24 10:23:08 [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 10:23:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:13 ago, cause: software
2025-04-24 10:23:08 [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 10:23:08 [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 10:23:08 [debug] Moves scheduled 4080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 108, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:08 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17951, writes 0 timeouts 0
2025-04-24 10:23:08 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36351/37175
2025-04-24 10:23:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8579, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:09 [info] currentZPosition:0.0409
2025-04-24 10:23:10 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:10 [debug] Diagnostics for board 50:
2025-04-24 10:23:10 [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 10:23:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:15 ago, cause: software
2025-04-24 10:23:10 [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 10:23:10 [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 10:23:10 [debug] Moves scheduled 4084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 98, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:23:10 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16578, writes 0 timeouts 0
2025-04-24 10:23:10 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36339/37173
2025-04-24 10:23:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:10 [info] currentZPosition:0.0411
2025-04-24 10:23:11 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:11 [debug] Diagnostics for board 50:
2025-04-24 10:23:11 [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 10:23:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:16 ago, cause: software
2025-04-24 10:23:11 [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 10:23:11 [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 10:23:11 [debug] Moves scheduled 4088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936145 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:11 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 18007, writes 0 timeouts 0
2025-04-24 10:23:11 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36186/37178
2025-04-24 10:23:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:11 [info] currentZPosition:0.0410
2025-04-24 10:23:13 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:13 [debug] Diagnostics for board 50:
2025-04-24 10:23:13 [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 10:23:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:17 ago, cause: software
2025-04-24 10:23:13 [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 10:23:13 [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 10:23:13 [debug] Moves scheduled 4092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 72, peak jitter -4/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:13 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16341, writes 0 timeouts 0
2025-04-24 10:23:13 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35759/37178
2025-04-24 10:23:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8524, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:13 [info] currentZPosition:0.0419
2025-04-24 10:23:14 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:14 [debug] Diagnostics for board 50:
2025-04-24 10:23:14 [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 10:23:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:19 ago, cause: software
2025-04-24 10:23:14 [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 10:23:14 [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 10:23:14 [debug] Moves scheduled 4096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:14 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 18397, writes 0 timeouts 0
2025-04-24 10:23:14 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36008/37177
2025-04-24 10:23:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8595, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:14 [info] currentZPosition:0.0406
2025-04-24 10:23:14 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:16 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:16 [debug] Diagnostics for board 50:
2025-04-24 10:23:16 [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 10:23:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:20 ago, cause: software
2025-04-24 10:23:16 [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 10:23:16 [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 10:23:16 [debug] Moves scheduled 4102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=748, max=18292
Sync err accum 67, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:23:16 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20394, writes 11 timeouts 1
2025-04-24 10:23:16 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35923/37177
2025-04-24 10:23:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8571, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:16 [info] currentZPosition:0.0412
2025-04-24 10:23:17 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:17 [debug] Diagnostics for board 50:
2025-04-24 10:23:17 [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 10:23:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:22 ago, cause: software
2025-04-24 10:23:17 [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 10:23:17 [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 10:23:17 [debug] Moves scheduled 4106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:17 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 18056, writes 0 timeouts 0
2025-04-24 10:23:17 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35834/37172
2025-04-24 10:23:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8587, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:17 [info] currentZPosition:0.0408
2025-04-24 10:23:18 [debug] Stopped at height 0.039 mm
2025-04-24 10:23:18 [debug] Diagnostics for board 50:
2025-04-24 10:23:18 [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 10:23:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:23 ago, cause: software
2025-04-24 10:23:18 [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 10:23:18 [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 10:23:18 [debug] Moves scheduled 4110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 71, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:18 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17188, writes 0 timeouts 0
2025-04-24 10:23:18 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36353/37172
2025-04-24 10:23:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:19 [info] currentZPosition:0.0392
2025-04-24 10:23:19 [debug] Stopped at height 0.037 mm
2025-04-24 10:23:19 [debug] Stopped at height 0.039 mm
2025-04-24 10:23:20 [debug] Stopped at height 0.037 mm
2025-04-24 10:23:20 [debug] Stopped at height 0.037 mm
2025-04-24 10:23:21 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:21 [debug] Diagnostics for board 50:
2025-04-24 10:23:21 [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 10:23:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:26 ago, cause: software
2025-04-24 10:23:21 [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 10:23:21 [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 10:23:21 [debug] Moves scheduled 4122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:21 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 33374, writes 0 timeouts 0
2025-04-24 10:23:21 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36409/37176
2025-04-24 10:23:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8549, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:21 [info] currentZPosition:0.0420
2025-04-24 10:23:22 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:23 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:23 [debug] Diagnostics for board 50:
2025-04-24 10:23:23 [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 10:23:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:28 ago, cause: software
2025-04-24 10:23:23 [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 10:23:23 [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 10:23:23 [debug] Moves scheduled 4128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:23 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20647, writes 0 timeouts 0
2025-04-24 10:23:23 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36098/37176
2025-04-24 10:23:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8556, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:23 [info] currentZPosition:0.0419
2025-04-24 10:23:24 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:24 [debug] Diagnostics for board 50:
2025-04-24 10:23:24 [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 10:23:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:29 ago, cause: software
2025-04-24 10:23:24 [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 10:23:24 [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 10:23:24 [debug] Moves scheduled 4132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:24 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 18002, writes 0 timeouts 0
2025-04-24 10:23:24 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36229/37174
2025-04-24 10:23:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:24 [info] currentZPosition:0.0416
2025-04-24 10:23:26 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:26 [debug] Diagnostics for board 50:
2025-04-24 10:23:26 [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 10:23:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:30 ago, cause: software
2025-04-24 10:23:26 [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 10:23:26 [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 10:23:26 [debug] Moves scheduled 4136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:26 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16750, writes 0 timeouts 0
2025-04-24 10:23:26 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36256/37175
2025-04-24 10:23:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8579, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:26 [info] currentZPosition:0.0416
2025-04-24 10:23:27 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:27 [debug] Diagnostics for board 50:
2025-04-24 10:23:27 [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 10:23:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:32 ago, cause: software
2025-04-24 10:23:27 [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 10:23:27 [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 10:23:27 [debug] Moves scheduled 4140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:27 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17933, writes 0 timeouts 0
2025-04-24 10:23:27 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36045/37176
2025-04-24 10:23:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8578, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:27 [info] currentZPosition:0.0416
2025-04-24 10:23:28 [debug] Stopped at height 0.039 mm
2025-04-24 10:23:28 [debug] Diagnostics for board 50:
2025-04-24 10:23:28 [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 10:23:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:33 ago, cause: software
2025-04-24 10:23:28 [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 10:23:28 [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 10:23:28 [debug] Moves scheduled 4144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 64, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:28 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17565, writes 0 timeouts 0
2025-04-24 10:23:28 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36405/37173
2025-04-24 10:23:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:28 [info] currentZPosition:0.0390
2025-04-24 10:23:29 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 10:23:30 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:30 [debug] Diagnostics for board 50:
2025-04-24 10:23:30 [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 10:23:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:35 ago, cause: software
2025-04-24 10:23:30 [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 10:23:30 [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 10:23:30 [debug] Moves scheduled 4149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:30 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20366, writes 0 timeouts 0
2025-04-24 10:23:30 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 35877/37177
2025-04-24 10:23:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8596, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:30 [info] currentZPosition:0.0413
2025-04-24 10:23:31 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:31 [debug] Diagnostics for board 50:
2025-04-24 10:23:31 [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 10:23:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:36 ago, cause: software
2025-04-24 10:23:31 [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 10:23:31 [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 10:23:31 [debug] Moves scheduled 4153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:31 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17109, writes 0 timeouts 0
2025-04-24 10:23:31 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35813/37175
2025-04-24 10:23:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8664, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:31 [info] currentZPosition:0.0400
2025-04-24 10:23:32 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:33 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:33 [debug] Diagnostics for board 50:
2025-04-24 10:23:33 [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 10:23:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:38 ago, cause: software
2025-04-24 10:23:33 [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 10:23:33 [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 10:23:33 [debug] Moves scheduled 4159, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6355, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:33 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 21086, writes 0 timeouts 0
2025-04-24 10:23:33 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35708/37175
2025-04-24 10:23:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8538, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:33 [info] currentZPosition:0.0424
2025-04-24 10:23:33 [debug] Stopped at height 0.043 mm
2025-04-24 10:23:35 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:35 [debug] Diagnostics for board 50:
2025-04-24 10:23:35 [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 10:23:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:40 ago, cause: software
2025-04-24 10:23:35 [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 10:23:35 [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 10:23:35 [debug] Moves scheduled 4165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=18292
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 4294936149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:35 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20697, writes 0 timeouts 0
2025-04-24 10:23:35 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 35965/37177
2025-04-24 10:23:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8573, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:35 [info] currentZPosition:0.0418
2025-04-24 10:23:36 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:36 [debug] Diagnostics for board 50:
2025-04-24 10:23:36 [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 10:23:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:41 ago, cause: software
2025-04-24 10:23:36 [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 10:23:36 [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 10:23:36 [debug] Moves scheduled 4169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=18292
Sync err accum 76, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:36 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17802, writes 0 timeouts 0
2025-04-24 10:23:36 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36279/37176
2025-04-24 10:23:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8554, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:36 [info] currentZPosition:0.0421
2025-04-24 10:23:38 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:38 [debug] Diagnostics for board 50:
2025-04-24 10:23:38 [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 10:23:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:42 ago, cause: software
2025-04-24 10:23:38 [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 10:23:38 [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 10:23:38 [debug] Moves scheduled 4173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 79, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:38 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16689, writes 0 timeouts 0
2025-04-24 10:23:38 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36134/37174
2025-04-24 10:23:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8546, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:38 [info] currentZPosition:0.0423
2025-04-24 10:23:39 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:39 [debug] Diagnostics for board 50:
2025-04-24 10:23:39 [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 10:23:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:44 ago, cause: software
2025-04-24 10:23:39 [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 10:23:39 [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 10:23:39 [debug] Moves scheduled 4177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 80, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:39 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17989, writes 0 timeouts 0
2025-04-24 10:23:39 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37174
2025-04-24 10:23:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8551, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:39 [info] currentZPosition:0.0422
2025-04-24 10:23:40 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:40 [debug] Diagnostics for board 50:
2025-04-24 10:23:40 [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 10:23:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:45 ago, cause: software
2025-04-24 10:23:40 [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 10:23:40 [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 10:23:40 [debug] Moves scheduled 4181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=525, max=17045
Sync err accum 74, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:40 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17315, writes 11 timeouts 1
2025-04-24 10:23:40 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36336/37175
2025-04-24 10:23:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:40 [info] currentZPosition:0.0402
2025-04-24 10:23:41 [debug] Stopped at height 0.039 mm
2025-04-24 10:23:42 [debug] Stopped at height 0.043 mm
2025-04-24 10:23:42 [debug] Diagnostics for board 50:
2025-04-24 10:23:42 [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 10:23:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:47 ago, cause: software
2025-04-24 10:23:42 [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 10:23:42 [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 10:23:42 [debug] Moves scheduled 4187, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 68, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:42 [debug] Driver 0: pos -3406, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21066, writes 0 timeouts 0
2025-04-24 10:23:42 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35934/37177
2025-04-24 10:23:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8533, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:42 [info] currentZPosition:0.0427
2025-04-24 10:23:42 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:44 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:44 [debug] Diagnostics for board 50:
2025-04-24 10:23:44 [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 10:23:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:49 ago, cause: software
2025-04-24 10:23:44 [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 10:23:44 [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 10:23:44 [debug] Moves scheduled 4193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17857
Sync err accum 66, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294936629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 10:23:44 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 21102, writes 0 timeouts 0
2025-04-24 10:23:44 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35732/37173
2025-04-24 10:23:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8602, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:44 [info] currentZPosition:0.0416
2025-04-24 10:23:45 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:45 [debug] Diagnostics for board 50:
2025-04-24 10:23:45 [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 10:23:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:50 ago, cause: software
2025-04-24 10:23:45 [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 10:23:45 [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 10:23:45 [debug] Moves scheduled 4197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 74, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:45 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 18017, writes 0 timeouts 0
2025-04-24 10:23:45 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35757/37173
2025-04-24 10:23:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:45 [info] currentZPosition:0.0411
2025-04-24 10:23:46 [debug] Stopped at height 0.044 mm
2025-04-24 10:23:46 [debug] Diagnostics for board 50:
2025-04-24 10:23:46 [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 10:23:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:51 ago, cause: software
2025-04-24 10:23:46 [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 10:23:46 [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 10:23:46 [debug] Moves scheduled 4201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:46 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 15924, writes 0 timeouts 0
2025-04-24 10:23:46 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35898/37173
2025-04-24 10:23:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8497, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:47 [info] currentZPosition:0.0435
2025-04-24 10:23:47 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:48 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:48 [debug] Diagnostics for board 50:
2025-04-24 10:23:48 [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 10:23:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:53 ago, cause: software
2025-04-24 10:23:48 [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 10:23:48 [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 10:23:48 [debug] Moves scheduled 4207, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6578, max=17045
Sync err accum 76, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:48 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 22514, writes 0 timeouts 0
2025-04-24 10:23:48 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36333/37175
2025-04-24 10:23:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:48 [info] currentZPosition:0.0411
2025-04-24 10:23:50 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:50 [debug] Diagnostics for board 50:
2025-04-24 10:23:50 [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 10:23:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,117) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:54 ago, cause: software
2025-04-24 10:23:50 [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 10:23:50 [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 10:23:50 [debug] Moves scheduled 4211, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 75, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:50 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16553, writes 0 timeouts 0
2025-04-24 10:23:50 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36061/37169
2025-04-24 10:23:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8600, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:50 [info] currentZPosition:0.0416
2025-04-24 10:23:51 [debug] Stopped at height 0.043 mm
2025-04-24 10:23:51 [debug] Diagnostics for board 50:
2025-04-24 10:23:51 [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 10:23:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:56 ago, cause: software
2025-04-24 10:23:51 [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 10:23:51 [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 10:23:51 [debug] Moves scheduled 4215, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:51 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17549, writes 0 timeouts 0
2025-04-24 10:23:51 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37176
2025-04-24 10:23:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:51 [info] currentZPosition:0.0427
2025-04-24 10:23:52 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:52 [debug] Diagnostics for board 50:
2025-04-24 10:23:52 [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 10:23:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:57 ago, cause: software
2025-04-24 10:23:52 [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 10:23:52 [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 10:23:52 [debug] Moves scheduled 4219, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:23:52 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17346, writes 0 timeouts 0
2025-04-24 10:23:52 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36206/37177
2025-04-24 10:23:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8642, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:52 [info] currentZPosition:0.0409
2025-04-24 10:23:53 [debug] Stopped at height 0.039 mm
2025-04-24 10:23:54 [debug] Stopped at height 0.043 mm
2025-04-24 10:23:54 [debug] Diagnostics for board 50:
2025-04-24 10:23:54 [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 10:23:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:59 ago, cause: software
2025-04-24 10:23:54 [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 10:23:54 [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 10:23:54 [debug] Moves scheduled 4225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:54 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 21267, writes 0 timeouts 0
2025-04-24 10:23:54 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35986/37173
2025-04-24 10:23:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8521, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:54 [info] currentZPosition:0.0432
2025-04-24 10:23:55 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:56 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:56 [debug] Diagnostics for board 50:
2025-04-24 10:23:56 [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 10:23:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:01 ago, cause: software
2025-04-24 10:23:56 [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 10:23:56 [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 10:23:56 [debug] Moves scheduled 4231, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:56 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20913, writes 0 timeouts 0
2025-04-24 10:23:56 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36362/37176
2025-04-24 10:23:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:56 [info] currentZPosition:0.0421
2025-04-24 10:23:56 [debug] Stopped at height 0.041 mm
2025-04-24 10:23:57 [debug] Stopped at height 0.042 mm
2025-04-24 10:23:57 [debug] Diagnostics for board 50:
2025-04-24 10:23:57 [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 10:23:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:02 ago, cause: software
2025-04-24 10:23:57 [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 10:23:57 [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 10:23:57 [debug] Moves scheduled 4237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=741, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294928506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:23:57 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 21773, writes 11 timeouts 1
2025-04-24 10:23:57 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35806/37176
2025-04-24 10:23:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8593, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:58 [info] currentZPosition:0.0420
2025-04-24 10:23:58 [debug] Stopped at height 0.040 mm
2025-04-24 10:23:59 [debug] Stopped at height 0.043 mm
2025-04-24 10:23:59 [debug] Diagnostics for board 50:
2025-04-24 10:23:59 [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 10:23:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:04 ago, cause: software
2025-04-24 10:23:59 [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 10:23:59 [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 10:23:59 [debug] Moves scheduled 4243, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:23:59 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20272, writes 0 timeouts 0
2025-04-24 10:23:59 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35779/37176
2025-04-24 10:23:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8543, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:23:59 [info] currentZPosition:0.0430
2025-04-24 10:24:00 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:01 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:01 [debug] Diagnostics for board 50:
2025-04-24 10:24:01 [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 10:24:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:06 ago, cause: software
2025-04-24 10:24:01 [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 10:24:01 [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 10:24:01 [debug] Moves scheduled 4249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6818, max=18292
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 4294933102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:01 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 22167, writes 0 timeouts 0
2025-04-24 10:24:01 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36373/37177
2025-04-24 10:24:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8592, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:01 [info] currentZPosition:0.0422
2025-04-24 10:24:02 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:02 [debug] Diagnostics for board 50:
2025-04-24 10:24:02 [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 10:24:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:07 ago, cause: software
2025-04-24 10:24:02 [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 10:24:02 [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 10:24:02 [debug] Moves scheduled 4253, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=18292
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:02 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16615, writes 0 timeouts 0
2025-04-24 10:24:02 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35934/37174
2025-04-24 10:24:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8557, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:02 [info] currentZPosition:0.0429
2025-04-24 10:24:04 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:04 [debug] Diagnostics for board 50:
2025-04-24 10:24:04 [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 10:24:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:08 ago, cause: software
2025-04-24 10:24:04 [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 10:24:04 [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 10:24:04 [debug] Moves scheduled 4257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:04 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 18074, writes 0 timeouts 0
2025-04-24 10:24:04 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36202/37176
2025-04-24 10:24:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8600, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:04 [info] currentZPosition:0.0421
2025-04-24 10:24:05 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:05 [debug] Diagnostics for board 50:
2025-04-24 10:24:05 [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 10:24:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:10 ago, cause: software
2025-04-24 10:24:05 [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 10:24:05 [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 10:24:05 [debug] Moves scheduled 4261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 73, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:05 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16275, writes 0 timeouts 0
2025-04-24 10:24:05 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36080/37173
2025-04-24 10:24:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8538, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:05 [info] currentZPosition:0.0433
2025-04-24 10:24:06 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:06 [debug] Diagnostics for board 50:
2025-04-24 10:24:06 [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 10:24:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:11 ago, cause: software
2025-04-24 10:24:06 [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 10:24:06 [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 10:24:06 [debug] Moves scheduled 4265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 71, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:06 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 18040, writes 0 timeouts 0
2025-04-24 10:24:06 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36021/37174
2025-04-24 10:24:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8569, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:06 [info] currentZPosition:0.0427
2025-04-24 10:24:08 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:08 [debug] Diagnostics for board 50:
2025-04-24 10:24:08 [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 10:24:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:13 ago, cause: software
2025-04-24 10:24:08 [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 10:24:08 [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 10:24:08 [debug] Moves scheduled 4269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6302, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:08 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16980, writes 0 timeouts 0
2025-04-24 10:24:08 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36248/37175
2025-04-24 10:24:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:08 [info] currentZPosition:0.0420
2025-04-24 10:24:09 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:09 [debug] Diagnostics for board 50:
2025-04-24 10:24:09 [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 10:24:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:14 ago, cause: software
2025-04-24 10:24:09 [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 10:24:09 [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 10:24:09 [debug] Moves scheduled 4273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6355, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:09 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17884, writes 0 timeouts 0
2025-04-24 10:24:09 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35859/37172
2025-04-24 10:24:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8621, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:09 [info] currentZPosition:0.0417
2025-04-24 10:24:11 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:11 [debug] Diagnostics for board 50:
2025-04-24 10:24:11 [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 10:24:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:15 ago, cause: software
2025-04-24 10:24:11 [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 10:24:11 [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 10:24:11 [debug] Moves scheduled 4277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=74, frequency (Hz): min=6198, max=18292
Sync err accum 75, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:11 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16420, writes 0 timeouts 0
2025-04-24 10:24:11 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37170
2025-04-24 10:24:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:11 [info] currentZPosition:0.0426
2025-04-24 10:24:12 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:12 [debug] Diagnostics for board 50:
2025-04-24 10:24:12 [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 10:24:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:17 ago, cause: software
2025-04-24 10:24:12 [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 10:24:12 [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 10:24:12 [debug] Moves scheduled 4281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:12 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 18004, writes 0 timeouts 0
2025-04-24 10:24:12 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35683/37171
2025-04-24 10:24:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8598, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:12 [info] currentZPosition:0.0421
2025-04-24 10:24:13 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:13 [debug] Diagnostics for board 50:
2025-04-24 10:24:13 [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 10:24:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:18 ago, cause: software
2025-04-24 10:24:13 [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 10:24:13 [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 10:24:13 [debug] Moves scheduled 4285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 87, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:13 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16737, writes 0 timeouts 0
2025-04-24 10:24:13 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35820/37173
2025-04-24 10:24:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8610, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:13 [info] currentZPosition:0.0419
2025-04-24 10:24:15 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:15 [debug] Diagnostics for board 50:
2025-04-24 10:24:15 [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 10:24:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:19 ago, cause: software
2025-04-24 10:24:15 [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 10:24:15 [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 10:24:15 [debug] Moves scheduled 4289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 90, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:15 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17392, writes 0 timeouts 0
2025-04-24 10:24:15 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36261/37176
2025-04-24 10:24:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8536, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:15 [info] currentZPosition:0.0433
2025-04-24 10:24:15 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:16 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:16 [debug] Diagnostics for board 50:
2025-04-24 10:24:16 [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 10:24:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:21 ago, cause: software
2025-04-24 10:24:16 [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 10:24:16 [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 10:24:16 [debug] Moves scheduled 4295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 90, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:16 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20910, writes 0 timeouts 0
2025-04-24 10:24:16 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 35717/37176
2025-04-24 10:24:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8602, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:16 [info] currentZPosition:0.0423
2025-04-24 10:24:18 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:18 [debug] Diagnostics for board 50:
2025-04-24 10:24:18 [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 10:24:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:23 ago, cause: software
2025-04-24 10:24:18 [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 10:24:18 [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 10:24:18 [debug] Moves scheduled 4299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:18 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 18038, writes 0 timeouts 0
2025-04-24 10:24:18 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36086/37174
2025-04-24 10:24:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:18 [info] currentZPosition:0.0417
2025-04-24 10:24:19 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:19 [debug] Diagnostics for board 50:
2025-04-24 10:24:19 [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 10:24:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:24 ago, cause: software
2025-04-24 10:24:19 [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 10:24:19 [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 10:24:19 [debug] Moves scheduled 4303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 80, peak jitter -1/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:19 [debug] Driver 0: pos -3404, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16020, writes 0 timeouts 0
2025-04-24 10:24:19 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36380/37178
2025-04-24 10:24:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8523, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:19 [info] currentZPosition:0.0438
2025-04-24 10:24:19 [debug] Stopped at height 0.046 mm
2025-04-24 10:24:20 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:20 [debug] Stopped at height 0.045 mm
2025-04-24 10:24:21 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:22 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:22 [debug] Diagnostics for board 50:
2025-04-24 10:24:22 [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 10:24:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:27 ago, cause: software
2025-04-24 10:24:22 [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 10:24:22 [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 10:24:22 [debug] Moves scheduled 4315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=18292
Sync err accum 63, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:22 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 34295, writes 0 timeouts 0
2025-04-24 10:24:22 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35906/37178
2025-04-24 10:24:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8557, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:22 [info] currentZPosition:0.0435
2025-04-24 10:24:22 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:23 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:23 [debug] Diagnostics for board 50:
2025-04-24 10:24:23 [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 10:24:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:28 ago, cause: software
2025-04-24 10:24:23 [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 10:24:23 [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 10:24:23 [debug] Moves scheduled 4321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:23 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20766, writes 0 timeouts 0
2025-04-24 10:24:23 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35784/37177
2025-04-24 10:24:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8610, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:24 [info] currentZPosition:0.0426
2025-04-24 10:24:25 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:25 [debug] Diagnostics for board 50:
2025-04-24 10:24:25 [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 10:24:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:30 ago, cause: software
2025-04-24 10:24:25 [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 10:24:25 [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 10:24:25 [debug] Moves scheduled 4325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:25 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17780, writes 0 timeouts 0
2025-04-24 10:24:25 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35755/37168
2025-04-24 10:24:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:25 [info] currentZPosition:0.0427
2025-04-24 10:24:26 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:26 [debug] Diagnostics for board 50:
2025-04-24 10:24:26 [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 10:24:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:31 ago, cause: software
2025-04-24 10:24:26 [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 10:24:26 [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 10:24:26 [debug] Moves scheduled 4329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=491, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:26 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16869, writes 11 timeouts 1
2025-04-24 10:24:26 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35916/37169
2025-04-24 10:24:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8637, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:26 [info] currentZPosition:0.0420
2025-04-24 10:24:28 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:28 [debug] Diagnostics for board 50:
2025-04-24 10:24:28 [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 10:24:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:32 ago, cause: software
2025-04-24 10:24:28 [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 10:24:28 [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 10:24:28 [debug] Moves scheduled 4333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17857
Sync err accum 64, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:28 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17503, writes 0 timeouts 0
2025-04-24 10:24:28 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36332/37176
2025-04-24 10:24:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8589, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:28 [info] currentZPosition:0.0430
2025-04-24 10:24:29 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:29 [debug] Diagnostics for board 50:
2025-04-24 10:24:29 [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 10:24:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:34 ago, cause: software
2025-04-24 10:24:29 [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 10:24:29 [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 10:24:29 [debug] Moves scheduled 4337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 67, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:29 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16823, writes 0 timeouts 0
2025-04-24 10:24:29 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36098/37178
2025-04-24 10:24:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:29 [info] currentZPosition:0.0425
2025-04-24 10:24:30 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:30 [debug] Diagnostics for board 50:
2025-04-24 10:24:30 [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 10:24:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:35 ago, cause: software
2025-04-24 10:24:30 [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 10:24:30 [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 10:24:30 [debug] Moves scheduled 4341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936010 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:30 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17814, writes 0 timeouts 0
2025-04-24 10:24:30 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36158/37173
2025-04-24 10:24:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8623, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:30 [info] currentZPosition:0.0424
2025-04-24 10:24:32 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:32 [debug] Diagnostics for board 50:
2025-04-24 10:24:32 [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 10:24:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,66.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:37 ago, cause: software
2025-04-24 10:24:32 [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 10:24:32 [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 10:24:32 [debug] Moves scheduled 4345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:32 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16441, writes 0 timeouts 0
2025-04-24 10:24:32 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36265/37169
2025-04-24 10:24:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8581, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:32 [info] currentZPosition:0.0431
2025-04-24 10:24:33 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:33 [debug] Diagnostics for board 50:
2025-04-24 10:24:33 [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 10:24:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:38 ago, cause: software
2025-04-24 10:24:33 [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 10:24:33 [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 10:24:33 [debug] Moves scheduled 4349, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:33 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17718, writes 0 timeouts 0
2025-04-24 10:24:33 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35984/37176
2025-04-24 10:24:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8562, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:33 [info] currentZPosition:0.0435
2025-04-24 10:24:35 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:35 [debug] Diagnostics for board 50:
2025-04-24 10:24:35 [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 10:24:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:39 ago, cause: software
2025-04-24 10:24:35 [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 10:24:35 [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 10:24:35 [debug] Moves scheduled 4353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:35 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16666, writes 0 timeouts 0
2025-04-24 10:24:35 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36415/37178
2025-04-24 10:24:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8570, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:35 [info] currentZPosition:0.0434
2025-04-24 10:24:36 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:36 [debug] Diagnostics for board 50:
2025-04-24 10:24:36 [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 10:24:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:41 ago, cause: software
2025-04-24 10:24:36 [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 10:24:36 [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 10:24:36 [debug] Moves scheduled 4357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=18292
Sync err accum 63, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:36 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17840, writes 0 timeouts 0
2025-04-24 10:24:36 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35807/37173
2025-04-24 10:24:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:36 [info] currentZPosition:0.0433
2025-04-24 10:24:37 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:37 [debug] Diagnostics for board 50:
2025-04-24 10:24:37 [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 10:24:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:42 ago, cause: software
2025-04-24 10:24:37 [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 10:24:37 [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 10:24:37 [debug] Moves scheduled 4361, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:37 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16463, writes 0 timeouts 0
2025-04-24 10:24:37 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35818/37170
2025-04-24 10:24:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8540, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:37 [info] currentZPosition:0.0439
2025-04-24 10:24:39 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:39 [debug] Diagnostics for board 50:
2025-04-24 10:24:39 [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 10:24:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:43 ago, cause: software
2025-04-24 10:24:39 [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 10:24:39 [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 10:24:39 [debug] Moves scheduled 4365, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:39 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17826, writes 0 timeouts 0
2025-04-24 10:24:39 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36374/37174
2025-04-24 10:24:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 795
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8552, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:39 [info] currentZPosition:0.0437
2025-04-24 10:24:40 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:40 [debug] Diagnostics for board 50:
2025-04-24 10:24:40 [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 10:24:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:45 ago, cause: software
2025-04-24 10:24:40 [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 10:24:40 [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 10:24:40 [debug] Moves scheduled 4369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 85, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:40 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17150, writes 0 timeouts 0
2025-04-24 10:24:40 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35943/37178
2025-04-24 10:24:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8637, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:40 [info] currentZPosition:0.0421
2025-04-24 10:24:40 [debug] Stopped at height 0.041 mm
2025-04-24 10:24:42 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:42 [debug] Diagnostics for board 50:
2025-04-24 10:24:42 [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 10:24:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:47 ago, cause: software
2025-04-24 10:24:42 [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 10:24:42 [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 10:24:42 [debug] Moves scheduled 4375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 86, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:42 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 21366, writes 0 timeouts 0
2025-04-24 10:24:42 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36204/37174
2025-04-24 10:24:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8554, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:42 [info] currentZPosition:0.0437
2025-04-24 10:24:42 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:43 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:43 [debug] Diagnostics for board 50:
2025-04-24 10:24:43 [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 10:24:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:48 ago, cause: software
2025-04-24 10:24:43 [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 10:24:43 [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 10:24:43 [debug] Moves scheduled 4381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=18292
Sync err accum 84, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:43 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20769, writes 0 timeouts 0
2025-04-24 10:24:43 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37175
2025-04-24 10:24:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8600, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:43 [info] currentZPosition:0.0431
2025-04-24 10:24:44 [debug] Stopped at height 0.041 mm
2025-04-24 10:24:45 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:45 [debug] Diagnostics for board 50:
2025-04-24 10:24:45 [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 10:24:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:50 ago, cause: software
2025-04-24 10:24:45 [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 10:24:45 [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 10:24:45 [debug] Moves scheduled 4387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:45 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 21551, writes 0 timeouts 0
2025-04-24 10:24:45 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36032/37178
2025-04-24 10:24:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8587, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:45 [info] currentZPosition:0.0434
2025-04-24 10:24:46 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:47 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:47 [debug] Diagnostics for board 50:
2025-04-24 10:24:47 [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 10:24:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:52 ago, cause: software
2025-04-24 10:24:47 [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 10:24:47 [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 10:24:47 [debug] Moves scheduled 4393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 69, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:47 [debug] Driver 0: pos -3411, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20343, writes 0 timeouts 0
2025-04-24 10:24:47 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36268/37177
2025-04-24 10:24:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8554, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:47 [info] currentZPosition:0.0441
2025-04-24 10:24:47 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:49 [debug] Stopped at height 0.043 mm
2025-04-24 10:24:49 [debug] Diagnostics for board 50:
2025-04-24 10:24:49 [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 10:24:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:53 ago, cause: software
2025-04-24 10:24:49 [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 10:24:49 [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 10:24:49 [debug] Moves scheduled 4399, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:49 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 22071, writes 0 timeouts 0
2025-04-24 10:24:49 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35881/37177
2025-04-24 10:24:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8628, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:49 [info] currentZPosition:0.0429
2025-04-24 10:24:50 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:50 [debug] Diagnostics for board 50:
2025-04-24 10:24:50 [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 10:24:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:55 ago, cause: software
2025-04-24 10:24:50 [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 10:24:50 [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 10:24:50 [debug] Moves scheduled 4403, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:50 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16381, writes 0 timeouts 0
2025-04-24 10:24:50 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35705/37173
2025-04-24 10:24:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8580, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:50 [info] currentZPosition:0.0438
2025-04-24 10:24:51 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:51 [debug] Diagnostics for board 50:
2025-04-24 10:24:51 [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 10:24:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:56 ago, cause: software
2025-04-24 10:24:51 [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 10:24:51 [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 10:24:51 [debug] Moves scheduled 4407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=9, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 85, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:51 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 18335, writes 0 timeouts 0
2025-04-24 10:24:51 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35706/37175
2025-04-24 10:24:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:51 [info] currentZPosition:0.0420
2025-04-24 10:24:52 [debug] Stopped at height 0.041 mm
2025-04-24 10:24:53 [debug] Stopped at height 0.042 mm
2025-04-24 10:24:53 [debug] Diagnostics for board 50:
2025-04-24 10:24:53 [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 10:24:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:58 ago, cause: software
2025-04-24 10:24:53 [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 10:24:53 [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 10:24:53 [debug] Moves scheduled 4413, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=492, max=17045
Sync err accum 94, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:53 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20591, writes 11 timeouts 1
2025-04-24 10:24:53 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35818/37173
2025-04-24 10:24:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:53 [info] currentZPosition:0.0421
2025-04-24 10:24:54 [debug] Stopped at height 0.045 mm
2025-04-24 10:24:54 [debug] Diagnostics for board 50:
2025-04-24 10:24:54 [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 10:24:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:26:59 ago, cause: software
2025-04-24 10:24:54 [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 10:24:54 [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 10:24:54 [debug] Moves scheduled 4417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:24:54 [debug] Driver 0: pos -3405, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16865, writes 0 timeouts 0
2025-04-24 10:24:54 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36283/37174
2025-04-24 10:24:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8526, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:54 [info] currentZPosition:0.0449
2025-04-24 10:24:55 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:56 [debug] Stopped at height 0.044 mm
2025-04-24 10:24:56 [debug] Diagnostics for board 50:
2025-04-24 10:24:56 [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 10:24:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:01 ago, cause: software
2025-04-24 10:24:56 [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 10:24:56 [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 10:24:56 [debug] Moves scheduled 4423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 98, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:56 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20951, writes 0 timeouts 0
2025-04-24 10:24:56 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35980/37175
2025-04-24 10:24:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:56 [info] currentZPosition:0.0441
2025-04-24 10:24:57 [debug] Stopped at height 0.045 mm
2025-04-24 10:24:57 [debug] Diagnostics for board 50:
2025-04-24 10:24:57 [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 10:24:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:02 ago, cause: software
2025-04-24 10:24:57 [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 10:24:57 [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 10:24:57 [debug] Moves scheduled 4427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17857
Sync err accum 94, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:24:57 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17662, writes 0 timeouts 0
2025-04-24 10:24:57 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37176
2025-04-24 10:24:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8547, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:57 [info] currentZPosition:0.0446
2025-04-24 10:24:59 [debug] Stopped at height 0.045 mm
2025-04-24 10:24:59 [debug] Diagnostics for board 50:
2025-04-24 10:24:59 [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 10:24:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:04 ago, cause: software
2025-04-24 10:24:59 [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 10:24:59 [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 10:24:59 [debug] Moves scheduled 4431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6521, max=17857
Sync err accum 91, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:24:59 [debug] Driver 0: pos -3402, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16420, writes 0 timeouts 0
2025-04-24 10:24:59 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35990/37174
2025-04-24 10:24:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8511, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:24:59 [info] currentZPosition:0.0453
2025-04-24 10:25:00 [debug] Stopped at height 0.042 mm
2025-04-24 10:25:00 [debug] Diagnostics for board 50:
2025-04-24 10:25:00 [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 10:25:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:05 ago, cause: software
2025-04-24 10:25:00 [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 10:25:00 [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 10:25:00 [debug] Moves scheduled 4435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 84, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:00 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 18661, writes 0 timeouts 0
2025-04-24 10:25:00 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35925/37171
2025-04-24 10:25:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8665, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:00 [info] currentZPosition:0.0423
2025-04-24 10:25:01 [debug] Stopped at height 0.041 mm
2025-04-24 10:25:02 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:02 [debug] Diagnostics for board 50:
2025-04-24 10:25:02 [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 10:25:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:07 ago, cause: software
2025-04-24 10:25:02 [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 10:25:02 [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 10:25:02 [debug] Moves scheduled 4441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter -2/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:02 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20191, writes 0 timeouts 0
2025-04-24 10:25:02 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36262/37175
2025-04-24 10:25:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8594, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:02 [info] currentZPosition:0.0438
2025-04-24 10:25:02 [debug] Stopped at height 0.043 mm
2025-04-24 10:25:04 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:04 [debug] Diagnostics for board 50:
2025-04-24 10:25:04 [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 10:25:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:08 ago, cause: software
2025-04-24 10:25:04 [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 10:25:04 [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 10:25:04 [debug] Moves scheduled 4447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:04 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 21450, writes 0 timeouts 0
2025-04-24 10:25:04 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35776/37178
2025-04-24 10:25:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:04 [info] currentZPosition:0.0442
2025-04-24 10:25:04 [debug] Stopped at height 0.042 mm
2025-04-24 10:25:05 [debug] Stopped at height 0.043 mm
2025-04-24 10:25:05 [debug] Diagnostics for board 50:
2025-04-24 10:25:05 [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 10:25:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:10 ago, cause: software
2025-04-24 10:25:05 [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 10:25:05 [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 10:25:05 [debug] Moves scheduled 4453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 77, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:05 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20792, writes 0 timeouts 0
2025-04-24 10:25:05 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35687/37174
2025-04-24 10:25:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8626, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:05 [info] currentZPosition:0.0434
2025-04-24 10:25:07 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:07 [debug] Diagnostics for board 50:
2025-04-24 10:25:07 [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 10:25:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:11 ago, cause: software
2025-04-24 10:25:07 [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 10:25:07 [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 10:25:07 [debug] Moves scheduled 4457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17857
Sync err accum 85, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:07 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17593, writes 0 timeouts 0
2025-04-24 10:25:07 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36352/37174
2025-04-24 10:25:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8604, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:07 [info] currentZPosition:0.0439
2025-04-24 10:25:08 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:08 [debug] Diagnostics for board 50:
2025-04-24 10:25:08 [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 10:25:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:13 ago, cause: software
2025-04-24 10:25:08 [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 10:25:08 [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 10:25:08 [debug] Moves scheduled 4461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6521, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:08 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16492, writes 0 timeouts 0
2025-04-24 10:25:08 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35809/37170
2025-04-24 10:25:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8566, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:08 [info] currentZPosition:0.0446
2025-04-24 10:25:09 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:09 [debug] Diagnostics for board 50:
2025-04-24 10:25:09 [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 10:25:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:14 ago, cause: software
2025-04-24 10:25:09 [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 10:25:09 [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 10:25:09 [debug] Moves scheduled 4465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:09 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17927, writes 0 timeouts 0
2025-04-24 10:25:09 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36171/37173
2025-04-24 10:25:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8603, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:09 [info] currentZPosition:0.0440
2025-04-24 10:25:11 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:11 [debug] Diagnostics for board 50:
2025-04-24 10:25:11 [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 10:25:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:15 ago, cause: software
2025-04-24 10:25:11 [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 10:25:11 [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 10:25:11 [debug] Moves scheduled 4469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:11 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16635, writes 0 timeouts 0
2025-04-24 10:25:11 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35974/37169
2025-04-24 10:25:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8597, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:11 [info] currentZPosition:0.0441
2025-04-24 10:25:12 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:12 [debug] Diagnostics for board 50:
2025-04-24 10:25:12 [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 10:25:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:17 ago, cause: software
2025-04-24 10:25:12 [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 10:25:12 [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 10:25:12 [debug] Moves scheduled 4473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 74, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:12 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17617, writes 0 timeouts 0
2025-04-24 10:25:12 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36010/37176
2025-04-24 10:25:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:12 [info] currentZPosition:0.0445
2025-04-24 10:25:13 [debug] Stopped at height 0.043 mm
2025-04-24 10:25:13 [debug] Diagnostics for board 50:
2025-04-24 10:25:13 [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 10:25:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:18 ago, cause: software
2025-04-24 10:25:13 [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 10:25:13 [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 10:25:13 [debug] Moves scheduled 4477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 64, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:13 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17142, writes 0 timeouts 0
2025-04-24 10:25:13 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36312/37176
2025-04-24 10:25:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8648, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:14 [info] currentZPosition:0.0430
2025-04-24 10:25:14 [debug] Stopped at height 0.041 mm
2025-04-24 10:25:14 [debug] Stopped at height 0.041 mm
2025-04-24 10:25:15 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:15 [debug] Diagnostics for board 50:
2025-04-24 10:25:15 [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 10:25:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:20 ago, cause: software
2025-04-24 10:25:15 [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 10:25:15 [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 10:25:15 [debug] Moves scheduled 4485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 73, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:15 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 25161, writes 0 timeouts 0
2025-04-24 10:25:15 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 35858/37177
2025-04-24 10:25:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8540, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:16 [info] currentZPosition:0.0453
2025-04-24 10:25:16 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:17 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:17 [debug] Diagnostics for board 50:
2025-04-24 10:25:17 [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 10:25:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:22 ago, cause: software
2025-04-24 10:25:17 [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 10:25:17 [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 10:25:17 [debug] Moves scheduled 4491, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 82, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:17 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 21332, writes 0 timeouts 0
2025-04-24 10:25:17 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35967/37175
2025-04-24 10:25:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8632, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:17 [info] currentZPosition:0.0437
2025-04-24 10:25:19 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:19 [debug] Diagnostics for board 50:
2025-04-24 10:25:19 [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 10:25:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:23 ago, cause: software
2025-04-24 10:25:19 [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 10:25:19 [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 10:25:19 [debug] Moves scheduled 4495, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6880, max=17857
Sync err accum 87, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:19 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17376, writes 0 timeouts 0
2025-04-24 10:25:19 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35680/37171
2025-04-24 10:25:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:19 [info] currentZPosition:0.0448
2025-04-24 10:25:20 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:20 [debug] Diagnostics for board 50:
2025-04-24 10:25:20 [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 10:25:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:25 ago, cause: software
2025-04-24 10:25:20 [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 10:25:20 [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 10:25:20 [debug] Moves scheduled 4499, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 91, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:20 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16798, writes 0 timeouts 0
2025-04-24 10:25:20 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36078/37172
2025-04-24 10:25:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8593, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:20 [info] currentZPosition:0.0444
2025-04-24 10:25:21 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:21 [debug] Diagnostics for board 50:
2025-04-24 10:25:21 [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 10:25:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:26 ago, cause: software
2025-04-24 10:25:21 [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 10:25:21 [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 10:25:21 [debug] Moves scheduled 4503, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:21 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17601, writes 0 timeouts 0
2025-04-24 10:25:21 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36254/37174
2025-04-24 10:25:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8570, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:21 [info] currentZPosition:0.0449
2025-04-24 10:25:23 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:23 [debug] Diagnostics for board 50:
2025-04-24 10:25:23 [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 10:25:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:27 ago, cause: software
2025-04-24 10:25:23 [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 10:25:23 [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 10:25:23 [debug] Moves scheduled 4507, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=499, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:23 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16748, writes 11 timeouts 1
2025-04-24 10:25:23 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36242/37177
2025-04-24 10:25:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8573, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:23 [info] currentZPosition:0.0448
2025-04-24 10:25:24 [debug] Stopped at height 0.043 mm
2025-04-24 10:25:24 [debug] Diagnostics for board 50:
2025-04-24 10:25:24 [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 10:25:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:29 ago, cause: software
2025-04-24 10:25:24 [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 10:25:24 [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 10:25:24 [debug] Moves scheduled 4511, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5859, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:24 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 18325, writes 0 timeouts 0
2025-04-24 10:25:24 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37176
2025-04-24 10:25:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8682, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:24 [info] currentZPosition:0.0427
2025-04-24 10:25:25 [debug] Stopped at height 0.042 mm
2025-04-24 10:25:26 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:26 [debug] Diagnostics for board 50:
2025-04-24 10:25:26 [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 10:25:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:31 ago, cause: software
2025-04-24 10:25:26 [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 10:25:26 [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 10:25:26 [debug] Moves scheduled 4517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:26 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20143, writes 0 timeouts 0
2025-04-24 10:25:26 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36378/37178
2025-04-24 10:25:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8602, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:26 [info] currentZPosition:0.0444
2025-04-24 10:25:26 [debug] Stopped at height 0.047 mm
2025-04-24 10:25:26 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:27 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:28 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:28 [debug] Diagnostics for board 50:
2025-04-24 10:25:28 [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 10:25:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:33 ago, cause: software
2025-04-24 10:25:28 [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 10:25:28 [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 10:25:28 [debug] Moves scheduled 4527, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17441
Sync err accum 68, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:28 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 29610, writes 0 timeouts 0
2025-04-24 10:25:28 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 291, adv 35923/37177
2025-04-24 10:25:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8586, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:28 [info] currentZPosition:0.0450
2025-04-24 10:25:30 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:30 [debug] Diagnostics for board 50:
2025-04-24 10:25:30 [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 10:25:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:34 ago, cause: software
2025-04-24 10:25:30 [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 10:25:30 [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 10:25:30 [debug] Moves scheduled 4531, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 80, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:30 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16991, writes 0 timeouts 0
2025-04-24 10:25:30 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35740/37175
2025-04-24 10:25:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8639, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:30 [info] currentZPosition:0.0439
2025-04-24 10:25:31 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:31 [debug] Diagnostics for board 50:
2025-04-24 10:25:31 [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 10:25:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:36 ago, cause: software
2025-04-24 10:25:31 [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 10:25:31 [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 10:25:31 [debug] Moves scheduled 4535, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 85, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:31 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17586, writes 0 timeouts 0
2025-04-24 10:25:31 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35755/37173
2025-04-24 10:25:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8622, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:31 [info] currentZPosition:0.0443
2025-04-24 10:25:32 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:32 [debug] Diagnostics for board 50:
2025-04-24 10:25:32 [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 10:25:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:37 ago, cause: software
2025-04-24 10:25:32 [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 10:25:32 [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 10:25:32 [debug] Moves scheduled 4539, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:32 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16632, writes 0 timeouts 0
2025-04-24 10:25:32 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 35897/37175
2025-04-24 10:25:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8594, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:32 [info] currentZPosition:0.0449
2025-04-24 10:25:34 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:34 [debug] Diagnostics for board 50:
2025-04-24 10:25:34 [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 10:25:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:38 ago, cause: software
2025-04-24 10:25:34 [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 10:25:34 [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 10:25:34 [debug] Moves scheduled 4543, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=18292
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 4294935209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:34 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17854, writes 0 timeouts 0
2025-04-24 10:25:34 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36353/37175
2025-04-24 10:25:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8625, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:34 [info] currentZPosition:0.0443
2025-04-24 10:25:35 [debug] Stopped at height 0.043 mm
2025-04-24 10:25:35 [debug] Diagnostics for board 50:
2025-04-24 10:25:35 [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 10:25:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:40 ago, cause: software
2025-04-24 10:25:35 [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 10:25:35 [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 10:25:35 [debug] Moves scheduled 4547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6000, max=18292
Sync err accum 88, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:35 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16980, writes 0 timeouts 0
2025-04-24 10:25:35 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36032/37173
2025-04-24 10:25:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:35 [info] currentZPosition:0.0434
2025-04-24 10:25:36 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:36 [debug] Diagnostics for board 50:
2025-04-24 10:25:36 [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 10:25:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:41 ago, cause: software
2025-04-24 10:25:36 [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 10:25:36 [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 10:25:36 [debug] Moves scheduled 4551, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294928930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:36 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17262, writes 0 timeouts 0
2025-04-24 10:25:36 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36171/37179
2025-04-24 10:25:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8591, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:36 [info] currentZPosition:0.0449
2025-04-24 10:25:37 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:38 [debug] Stopped at height 0.046 mm
2025-04-24 10:25:38 [debug] Diagnostics for board 50:
2025-04-24 10:25:38 [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 10:25:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:43 ago, cause: software
2025-04-24 10:25:38 [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 10:25:38 [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 10:25:38 [debug] Moves scheduled 4557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=18292
Sync err accum 71, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:38 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20302, writes 0 timeouts 0
2025-04-24 10:25:38 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36154/37177
2025-04-24 10:25:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8552, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:38 [info] currentZPosition:0.0458
2025-04-24 10:25:38 [debug] Stopped at height 0.048 mm
2025-04-24 10:25:39 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:40 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:40 [debug] Diagnostics for board 50:
2025-04-24 10:25:40 [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 10:25:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:45 ago, cause: software
2025-04-24 10:25:40 [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 10:25:40 [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 10:25:40 [debug] Moves scheduled 4565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 66, peak jitter -3/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:40 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 26435, writes 0 timeouts 0
2025-04-24 10:25:40 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 286, adv 36004/37177
2025-04-24 10:25:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:40 [info] currentZPosition:0.0436
2025-04-24 10:25:41 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:41 [debug] Diagnostics for board 50:
2025-04-24 10:25:41 [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 10:25:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:46 ago, cause: software
2025-04-24 10:25:41 [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 10:25:41 [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 10:25:41 [debug] Moves scheduled 4569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6048, max=17857
Sync err accum 77, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:41 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16366, writes 0 timeouts 0
2025-04-24 10:25:41 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36302/37172
2025-04-24 10:25:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8629, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:42 [info] currentZPosition:0.0446
2025-04-24 10:25:43 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:43 [debug] Diagnostics for board 50:
2025-04-24 10:25:43 [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 10:25:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:48 ago, cause: software
2025-04-24 10:25:43 [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 10:25:43 [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 10:25:43 [debug] Moves scheduled 4573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:43 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17785, writes 0 timeouts 0
2025-04-24 10:25:43 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35838/37169
2025-04-24 10:25:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8649, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:43 [info] currentZPosition:0.0442
2025-04-24 10:25:44 [debug] Stopped at height 0.046 mm
2025-04-24 10:25:44 [debug] Diagnostics for board 50:
2025-04-24 10:25:44 [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 10:25:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:49 ago, cause: software
2025-04-24 10:25:44 [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 10:25:44 [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 10:25:44 [debug] Moves scheduled 4577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:44 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16140, writes 0 timeouts 0
2025-04-24 10:25:44 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35697/37173
2025-04-24 10:25:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8552, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:44 [info] currentZPosition:0.0460
2025-04-24 10:25:45 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:46 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:46 [debug] Diagnostics for board 50:
2025-04-24 10:25:46 [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 10:25:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:51 ago, cause: software
2025-04-24 10:25:46 [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 10:25:46 [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 10:25:46 [debug] Moves scheduled 4583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:46 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 21999, writes 0 timeouts 0
2025-04-24 10:25:46 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35681/37172
2025-04-24 10:25:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8635, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:46 [info] currentZPosition:0.0445
2025-04-24 10:25:47 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:47 [debug] Diagnostics for board 50:
2025-04-24 10:25:47 [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 10:25:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:52 ago, cause: software
2025-04-24 10:25:47 [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 10:25:47 [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 10:25:47 [debug] Moves scheduled 4587, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:47 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16915, writes 0 timeouts 0
2025-04-24 10:25:47 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35798/37171
2025-04-24 10:25:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8670, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:47 [info] currentZPosition:0.0439
2025-04-24 10:25:49 [debug] Stopped at height 0.046 mm
2025-04-24 10:25:49 [debug] Diagnostics for board 50:
2025-04-24 10:25:49 [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 10:25:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:53 ago, cause: software
2025-04-24 10:25:49 [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 10:25:49 [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 10:25:49 [debug] Moves scheduled 4591, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6696, max=17857
Sync err accum 87, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:49 [debug] Driver 0: pos -3409, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16969, writes 0 timeouts 0
2025-04-24 10:25:49 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36283/37179
2025-04-24 10:25:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8548, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:49 [info] currentZPosition:0.0462
2025-04-24 10:25:49 [debug] Stopped at height 0.046 mm
2025-04-24 10:25:50 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:50 [debug] Diagnostics for board 50:
2025-04-24 10:25:50 [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 10:25:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:55 ago, cause: software
2025-04-24 10:25:50 [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 10:25:50 [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 10:25:50 [debug] Moves scheduled 4597, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:50 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20821, writes 0 timeouts 0
2025-04-24 10:25:50 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35954/37180
2025-04-24 10:25:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8602, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:50 [info] currentZPosition:0.0453
2025-04-24 10:25:52 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:52 [debug] Diagnostics for board 50:
2025-04-24 10:25:52 [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 10:25:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:57 ago, cause: software
2025-04-24 10:25:52 [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 10:25:52 [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 10:25:52 [debug] Moves scheduled 4601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6000, max=18292
Sync err accum 71, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:25:52 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17685, writes 0 timeouts 0
2025-04-24 10:25:52 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37172
2025-04-24 10:25:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:52 [info] currentZPosition:0.0451
2025-04-24 10:25:53 [debug] Stopped at height 0.046 mm
2025-04-24 10:25:53 [debug] Diagnostics for board 50:
2025-04-24 10:25:53 [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 10:25:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:58 ago, cause: software
2025-04-24 10:25:53 [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 10:25:53 [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 10:25:53 [debug] Moves scheduled 4605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:53 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16467, writes 0 timeouts 0
2025-04-24 10:25:53 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37180
2025-04-24 10:25:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8577, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:53 [info] currentZPosition:0.0458
2025-04-24 10:25:55 [debug] Stopped at height 0.042 mm
2025-04-24 10:25:55 [debug] Diagnostics for board 50:
2025-04-24 10:25:55 [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 10:25:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:59 ago, cause: software
2025-04-24 10:25:55 [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 10:25:55 [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 10:25:55 [debug] Moves scheduled 4609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 71, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:55 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 18715, writes 0 timeouts 0
2025-04-24 10:25:55 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35954/37174
2025-04-24 10:25:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:55 [info] currentZPosition:0.0423
2025-04-24 10:25:55 [debug] Stopped at height 0.043 mm
2025-04-24 10:25:56 [debug] Stopped at height 0.046 mm
2025-04-24 10:25:56 [debug] Diagnostics for board 50:
2025-04-24 10:25:56 [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 10:25:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:01 ago, cause: software
2025-04-24 10:25:56 [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 10:25:56 [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 10:25:56 [debug] Moves scheduled 4615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 78, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:25:56 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 19323, writes 0 timeouts 0
2025-04-24 10:25:56 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36246/37175
2025-04-24 10:25:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8584, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4562, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:56 [info] currentZPosition:0.0457
2025-04-24 10:25:56 [debug] Stopped at height 0.046 mm
2025-04-24 10:25:58 [debug] Stopped at height 0.045 mm
2025-04-24 10:25:58 [debug] Diagnostics for board 50:
2025-04-24 10:25:58 [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 10:25:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:03 ago, cause: software
2025-04-24 10:25:58 [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 10:25:58 [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 10:25:58 [debug] Moves scheduled 4621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 82, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:58 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 21644, writes 0 timeouts 0
2025-04-24 10:25:58 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35780/37172
2025-04-24 10:25:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8623, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:58 [info] currentZPosition:0.0451
2025-04-24 10:25:59 [debug] Stopped at height 0.044 mm
2025-04-24 10:25:59 [debug] Diagnostics for board 50:
2025-04-24 10:25:59 [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 10:25:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:04 ago, cause: software
2025-04-24 10:25:59 [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 10:25:59 [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 10:25:59 [debug] Moves scheduled 4625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:25:59 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17176, writes 0 timeouts 0
2025-04-24 10:25:59 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36331/37173
2025-04-24 10:25:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8695, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:25:59 [info] currentZPosition:0.0438
2025-04-24 10:26:00 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:01 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:01 [debug] Diagnostics for board 50:
2025-04-24 10:26:01 [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 10:26:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:06 ago, cause: software
2025-04-24 10:26:01 [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 10:26:01 [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 10:26:01 [debug] Moves scheduled 4631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 78, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:01 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 21140, writes 0 timeouts 0
2025-04-24 10:26:01 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36377/37176
2025-04-24 10:26:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8630, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:01 [info] currentZPosition:0.0451
2025-04-24 10:26:02 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:02 [debug] Diagnostics for board 50:
2025-04-24 10:26:02 [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 10:26:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:07 ago, cause: software
2025-04-24 10:26:02 [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 10:26:02 [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 10:26:02 [debug] Moves scheduled 4635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 71, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:02 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16911, writes 0 timeouts 0
2025-04-24 10:26:02 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35744/37176
2025-04-24 10:26:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:02 [info] currentZPosition:0.0447
2025-04-24 10:26:04 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:04 [debug] Diagnostics for board 50:
2025-04-24 10:26:04 [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 10:26:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:08 ago, cause: software
2025-04-24 10:26:04 [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 10:26:04 [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 10:26:04 [debug] Moves scheduled 4639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=18292
Sync err accum 63, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:04 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17324, writes 0 timeouts 0
2025-04-24 10:26:04 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36211/37176
2025-04-24 10:26:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8600, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:04 [info] currentZPosition:0.0457
2025-04-24 10:26:05 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:05 [debug] Diagnostics for board 50:
2025-04-24 10:26:05 [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 10:26:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:10 ago, cause: software
2025-04-24 10:26:05 [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 10:26:05 [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 10:26:05 [debug] Moves scheduled 4643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6578, max=17045
Sync err accum 66, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:05 [debug] Driver 0: pos -3410, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16387, writes 0 timeouts 0
2025-04-24 10:26:05 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35859/37175
2025-04-24 10:26:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8552, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:05 [info] currentZPosition:0.0466
2025-04-24 10:26:06 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:06 [debug] Diagnostics for board 50:
2025-04-24 10:26:06 [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 10:26:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:11 ago, cause: software
2025-04-24 10:26:06 [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 10:26:06 [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 10:26:06 [debug] Moves scheduled 4647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17441
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:26:06 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 18157, writes 0 timeouts 0
2025-04-24 10:26:06 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36056/37178
2025-04-24 10:26:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8639, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:06 [info] currentZPosition:0.0449
2025-04-24 10:26:07 [debug] Stopped at height 0.044 mm
2025-04-24 10:26:08 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:08 [debug] Diagnostics for board 50:
2025-04-24 10:26:08 [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 10:26:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:13 ago, cause: software
2025-04-24 10:26:08 [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 10:26:08 [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 10:26:08 [debug] Moves scheduled 4653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:08 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20713, writes 0 timeouts 0
2025-04-24 10:26:08 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36001/37178
2025-04-24 10:26:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8638, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:08 [info] currentZPosition:0.0451
2025-04-24 10:26:09 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:09 [debug] Diagnostics for board 50:
2025-04-24 10:26:09 [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 10:26:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:14 ago, cause: software
2025-04-24 10:26:09 [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 10:26:09 [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 10:26:09 [debug] Moves scheduled 4657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17857
Sync err accum 70, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:26:09 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17435, writes 0 timeouts 0
2025-04-24 10:26:09 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35882/37172
2025-04-24 10:26:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8614, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:10 [info] currentZPosition:0.0455
2025-04-24 10:26:11 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:11 [debug] Diagnostics for board 50:
2025-04-24 10:26:11 [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 10:26:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:16 ago, cause: software
2025-04-24 10:26:11 [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 10:26:11 [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 10:26:11 [debug] Moves scheduled 4661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6944, max=17857
Sync err accum 76, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:11 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16661, writes 0 timeouts 0
2025-04-24 10:26:11 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35911/37174
2025-04-24 10:26:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8613, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:11 [info] currentZPosition:0.0456
2025-04-24 10:26:12 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:12 [debug] Diagnostics for board 50:
2025-04-24 10:26:12 [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 10:26:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:17 ago, cause: software
2025-04-24 10:26:12 [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 10:26:12 [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 10:26:12 [debug] Moves scheduled 4665, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 76, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:12 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17453, writes 0 timeouts 0
2025-04-24 10:26:12 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35735/37172
2025-04-24 10:26:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8571, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:12 [info] currentZPosition:0.0463
2025-04-24 10:26:14 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:14 [debug] Diagnostics for board 50:
2025-04-24 10:26:14 [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 10:26:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:18 ago, cause: software
2025-04-24 10:26:14 [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 10:26:14 [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 10:26:14 [debug] Moves scheduled 4669, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 72, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:14 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17018, writes 0 timeouts 0
2025-04-24 10:26:14 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35850/37172
2025-04-24 10:26:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:14 [info] currentZPosition:0.0450
2025-04-24 10:26:14 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:15 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:15 [debug] Diagnostics for board 50:
2025-04-24 10:26:15 [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 10:26:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:20 ago, cause: software
2025-04-24 10:26:15 [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 10:26:15 [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 10:26:15 [debug] Moves scheduled 4675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:15 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 21139, writes 0 timeouts 0
2025-04-24 10:26:15 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36302/37177
2025-04-24 10:26:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8582, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:15 [info] currentZPosition:0.0462
2025-04-24 10:26:17 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:17 [debug] Diagnostics for board 50:
2025-04-24 10:26:17 [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 10:26:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:21 ago, cause: software
2025-04-24 10:26:17 [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 10:26:17 [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 10:26:17 [debug] Moves scheduled 4679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:17 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17161, writes 0 timeouts 0
2025-04-24 10:26:17 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35964/37174
2025-04-24 10:26:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:17 [info] currentZPosition:0.0446
2025-04-24 10:26:17 [debug] Stopped at height 0.044 mm
2025-04-24 10:26:18 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:18 [debug] Diagnostics for board 50:
2025-04-24 10:26:18 [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 10:26:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:23 ago, cause: software
2025-04-24 10:26:18 [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 10:26:18 [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 10:26:18 [debug] Moves scheduled 4685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6198, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:26:18 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 21036, writes 0 timeouts 0
2025-04-24 10:26:18 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36156/37171
2025-04-24 10:26:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8600, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:18 [info] currentZPosition:0.0460
2025-04-24 10:26:19 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:20 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:20 [debug] Diagnostics for board 50:
2025-04-24 10:26:20 [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 10:26:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:25 ago, cause: software
2025-04-24 10:26:20 [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 10:26:20 [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 10:26:20 [debug] Moves scheduled 4691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:20 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20292, writes 0 timeouts 0
2025-04-24 10:26:20 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36101/37177
2025-04-24 10:26:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:20 [info] currentZPosition:0.0466
2025-04-24 10:26:21 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:21 [debug] Diagnostics for board 50:
2025-04-24 10:26:21 [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 10:26:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:26 ago, cause: software
2025-04-24 10:26:21 [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 10:26:21 [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 10:26:21 [debug] Moves scheduled 4695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17857
Sync err accum 63, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:21 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17946, writes 0 timeouts 0
2025-04-24 10:26:21 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36008/37172
2025-04-24 10:26:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:21 [info] currentZPosition:0.0454
2025-04-24 10:26:23 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:23 [debug] Diagnostics for board 50:
2025-04-24 10:26:23 [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 10:26:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:27 ago, cause: software
2025-04-24 10:26:23 [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 10:26:23 [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 10:26:23 [debug] Moves scheduled 4699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=6355, max=18292
Sync err accum 68, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:23 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16696, writes 0 timeouts 0
2025-04-24 10:26:23 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36244/37174
2025-04-24 10:26:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:23 [info] currentZPosition:0.0451
2025-04-24 10:26:24 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:24 [debug] Diagnostics for board 50:
2025-04-24 10:26:24 [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 10:26:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:29 ago, cause: software
2025-04-24 10:26:24 [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 10:26:24 [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 10:26:24 [debug] Moves scheduled 4703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 71, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:24 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17376, writes 0 timeouts 0
2025-04-24 10:26:24 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35830/37176
2025-04-24 10:26:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8619, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:24 [info] currentZPosition:0.0457
2025-04-24 10:26:25 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:25 [debug] Diagnostics for board 50:
2025-04-24 10:26:25 [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 10:26:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:30 ago, cause: software
2025-04-24 10:26:25 [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 10:26:25 [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 10:26:25 [debug] Moves scheduled 4707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 74, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:25 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16626, writes 0 timeouts 0
2025-04-24 10:26:25 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36354/37177
2025-04-24 10:26:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:25 [info] currentZPosition:0.0458
2025-04-24 10:26:27 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:27 [debug] Diagnostics for board 50:
2025-04-24 10:26:27 [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 10:26:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:32 ago, cause: software
2025-04-24 10:26:27 [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 10:26:27 [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 10:26:27 [debug] Moves scheduled 4711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 73, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:27 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17529, writes 0 timeouts 0
2025-04-24 10:26:27 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35686/37176
2025-04-24 10:26:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8609, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:27 [info] currentZPosition:0.0460
2025-04-24 10:26:28 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:28 [debug] Diagnostics for board 50:
2025-04-24 10:26:28 [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 10:26:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:33 ago, cause: software
2025-04-24 10:26:28 [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 10:26:28 [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 10:26:28 [debug] Moves scheduled 4715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=85, frequency (Hz): min=6250, max=17857
Sync err accum 68, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:28 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16730, writes 0 timeouts 0
2025-04-24 10:26:28 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35745/37169
2025-04-24 10:26:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8621, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:28 [info] currentZPosition:0.0458
2025-04-24 10:26:30 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:30 [debug] Diagnostics for board 50:
2025-04-24 10:26:30 [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 10:26:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:34 ago, cause: software
2025-04-24 10:26:30 [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 10:26:30 [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 10:26:30 [debug] Moves scheduled 4719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:30 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17513, writes 0 timeouts 0
2025-04-24 10:26:30 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36280/37177
2025-04-24 10:26:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8607, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:30 [info] currentZPosition:0.0461
2025-04-24 10:26:31 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:31 [debug] Diagnostics for board 50:
2025-04-24 10:26:31 [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 10:26:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:36 ago, cause: software
2025-04-24 10:26:31 [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 10:26:31 [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 10:26:31 [debug] Moves scheduled 4723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=18292
Sync err accum 66, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:26:31 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16434, writes 0 timeouts 0
2025-04-24 10:26:31 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35839/37171
2025-04-24 10:26:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8560, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:31 [info] currentZPosition:0.0469
2025-04-24 10:26:32 [debug] Stopped at height 0.044 mm
2025-04-24 10:26:32 [debug] Diagnostics for board 50:
2025-04-24 10:26:32 [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 10:26:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:37 ago, cause: software
2025-04-24 10:26:32 [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 10:26:32 [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 10:26:32 [debug] Moves scheduled 4727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6355, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:32 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 18573, writes 0 timeouts 0
2025-04-24 10:26:32 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37174
2025-04-24 10:26:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:32 [info] currentZPosition:0.0438
2025-04-24 10:26:33 [debug] Stopped at height 0.044 mm
2025-04-24 10:26:34 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:34 [debug] Diagnostics for board 50:
2025-04-24 10:26:34 [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 10:26:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:39 ago, cause: software
2025-04-24 10:26:34 [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 10:26:34 [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 10:26:34 [debug] Moves scheduled 4733, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:34 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 19987, writes 0 timeouts 0
2025-04-24 10:26:34 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35944/37173
2025-04-24 10:26:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:34 [info] currentZPosition:0.0457
2025-04-24 10:26:34 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:36 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:36 [debug] Diagnostics for board 50:
2025-04-24 10:26:36 [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 10:26:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:40 ago, cause: software
2025-04-24 10:26:36 [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 10:26:36 [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 10:26:36 [debug] Moves scheduled 4739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 69, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:36 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 21499, writes 0 timeouts 0
2025-04-24 10:26:36 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35954/37176
2025-04-24 10:26:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8630, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:36 [info] currentZPosition:0.0458
2025-04-24 10:26:37 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:37 [debug] Diagnostics for board 50:
2025-04-24 10:26:37 [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 10:26:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:42 ago, cause: software
2025-04-24 10:26:37 [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 10:26:37 [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 10:26:37 [debug] Moves scheduled 4743, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:37 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16500, writes 0 timeouts 0
2025-04-24 10:26:37 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36101/37174
2025-04-24 10:26:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:37 [info] currentZPosition:0.0463
2025-04-24 10:26:38 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:38 [debug] Diagnostics for board 50:
2025-04-24 10:26:38 [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 10:26:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:43 ago, cause: software
2025-04-24 10:26:38 [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 10:26:38 [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 10:26:38 [debug] Moves scheduled 4747, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
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 4294935674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:38 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17412, writes 0 timeouts 0
2025-04-24 10:26:38 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35817/37175
2025-04-24 10:26:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:38 [info] currentZPosition:0.0468
2025-04-24 10:26:40 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:40 [debug] Diagnostics for board 50:
2025-04-24 10:26:40 [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 10:26:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:45 ago, cause: software
2025-04-24 10:26:40 [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 10:26:40 [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 10:26:40 [debug] Moves scheduled 4751, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 72, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:40 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16753, writes 0 timeouts 0
2025-04-24 10:26:40 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36239/37172
2025-04-24 10:26:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8601, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:40 [info] currentZPosition:0.0464
2025-04-24 10:26:41 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:41 [debug] Diagnostics for board 50:
2025-04-24 10:26:41 [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 10:26:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:46 ago, cause: software
2025-04-24 10:26:41 [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 10:26:41 [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 10:26:41 [debug] Moves scheduled 4755, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 76, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:26:41 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17955, writes 0 timeouts 0
2025-04-24 10:26:41 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37176
2025-04-24 10:26:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:41 [info] currentZPosition:0.0451
2025-04-24 10:26:42 [debug] Stopped at height 0.044 mm
2025-04-24 10:26:43 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:43 [debug] Diagnostics for board 50:
2025-04-24 10:26:43 [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 10:26:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:48 ago, cause: software
2025-04-24 10:26:43 [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 10:26:43 [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 10:26:43 [debug] Moves scheduled 4761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6944, max=17857
Sync err accum 76, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:43 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20315, writes 0 timeouts 0
2025-04-24 10:26:43 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36323/37176
2025-04-24 10:26:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:43 [info] currentZPosition:0.0463
2025-04-24 10:26:43 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:44 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:44 [debug] Diagnostics for board 50:
2025-04-24 10:26:44 [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 10:26:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:49 ago, cause: software
2025-04-24 10:26:44 [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 10:26:44 [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 10:26:44 [debug] Moves scheduled 4767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17857
Sync err accum 75, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:44 [debug] Driver 0: pos -3412, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 21061, writes 0 timeouts 0
2025-04-24 10:26:44 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36259/37178
2025-04-24 10:26:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8564, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:45 [info] currentZPosition:0.0473
2025-04-24 10:26:45 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:46 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:46 [debug] Diagnostics for board 50:
2025-04-24 10:26:46 [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 10:26:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:51 ago, cause: software
2025-04-24 10:26:46 [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 10:26:46 [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 10:26:46 [debug] Moves scheduled 4773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:46 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 21074, writes 0 timeouts 0
2025-04-24 10:26:46 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35720/37179
2025-04-24 10:26:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8665, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:46 [info] currentZPosition:0.0455
2025-04-24 10:26:47 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:48 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:48 [debug] Diagnostics for board 50:
2025-04-24 10:26:48 [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 10:26:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:53 ago, cause: software
2025-04-24 10:26:48 [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 10:26:48 [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 10:26:48 [debug] Moves scheduled 4779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 66, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:48 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20842, writes 0 timeouts 0
2025-04-24 10:26:48 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36107/37175
2025-04-24 10:26:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8574, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:48 [info] currentZPosition:0.0473
2025-04-24 10:26:48 [debug] Stopped at height 0.050 mm
2025-04-24 10:26:49 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:50 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:50 [debug] Diagnostics for board 50:
2025-04-24 10:26:50 [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 10:26:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:55 ago, cause: software
2025-04-24 10:26:50 [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 10:26:50 [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 10:26:50 [debug] Moves scheduled 4786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:26:50 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 24190, writes 0 timeouts 0
2025-04-24 10:26:50 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35861/37176
2025-04-24 10:26:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8624, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:50 [info] currentZPosition:0.0465
2025-04-24 10:26:51 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:51 [debug] Diagnostics for board 50:
2025-04-24 10:26:51 [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 10:26:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:56 ago, cause: software
2025-04-24 10:26:51 [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 10:26:51 [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 10:26:51 [debug] Moves scheduled 4790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=18292
Sync err accum 91, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:26:51 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17441, writes 0 timeouts 0
2025-04-24 10:26:51 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35911/37177
2025-04-24 10:26:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8609, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:51 [info] currentZPosition:0.0468
2025-04-24 10:26:53 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:53 [debug] Diagnostics for board 50:
2025-04-24 10:26:53 [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 10:26:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:57 ago, cause: software
2025-04-24 10:26:53 [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 10:26:53 [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 10:26:53 [debug] Moves scheduled 4794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 99, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:53 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16801, writes 0 timeouts 0
2025-04-24 10:26:53 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 35930/37177
2025-04-24 10:26:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8628, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:53 [info] currentZPosition:0.0465
2025-04-24 10:26:54 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:54 [debug] Diagnostics for board 50:
2025-04-24 10:26:54 [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 10:26:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:28:59 ago, cause: software
2025-04-24 10:26:54 [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 10:26:54 [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 10:26:54 [debug] Moves scheduled 4798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6756, max=17857
Sync err accum 102, peak jitter -1/2, peak Rx delay 170, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:54 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17726, writes 0 timeouts 0
2025-04-24 10:26:54 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35781/37177
2025-04-24 10:26:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8659, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:54 [info] currentZPosition:0.0458
2025-04-24 10:26:55 [debug] Stopped at height 0.048 mm
2025-04-24 10:26:55 [debug] Diagnostics for board 50:
2025-04-24 10:26:55 [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 10:26:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:00 ago, cause: software
2025-04-24 10:26:55 [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 10:26:55 [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 10:26:55 [debug] Moves scheduled 4802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 102, peak jitter 0/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:55 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16150, writes 0 timeouts 0
2025-04-24 10:26:55 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36066/37169
2025-04-24 10:26:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8575, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:55 [info] currentZPosition:0.0475
2025-04-24 10:26:56 [debug] Stopped at height 0.045 mm
2025-04-24 10:26:57 [debug] Stopped at height 0.046 mm
2025-04-24 10:26:57 [debug] Diagnostics for board 50:
2025-04-24 10:26:57 [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 10:26:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:02 ago, cause: software
2025-04-24 10:26:57 [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 10:26:57 [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 10:26:57 [debug] Moves scheduled 4808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:26:57 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 21774, writes 0 timeouts 0
2025-04-24 10:26:57 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36375/37172
2025-04-24 10:26:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:57 [info] currentZPosition:0.0464
2025-04-24 10:26:58 [debug] Stopped at height 0.047 mm
2025-04-24 10:26:58 [debug] Diagnostics for board 50:
2025-04-24 10:26:58 [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 10:26:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:03 ago, cause: software
2025-04-24 10:26:58 [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 10:26:58 [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 10:26:58 [debug] Moves scheduled 4812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:26:58 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16488, writes 0 timeouts 0
2025-04-24 10:26:58 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36169/37176
2025-04-24 10:26:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:26:58 [info] currentZPosition:0.0469
2025-04-24 10:27:00 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:00 [debug] Diagnostics for board 50:
2025-04-24 10:27:00 [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 10:27:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:04 ago, cause: software
2025-04-24 10:27:00 [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 10:27:00 [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 10:27:00 [debug] Moves scheduled 4816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6198, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:00 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17597, writes 0 timeouts 0
2025-04-24 10:27:00 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36227/37176
2025-04-24 10:27:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8622, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:00 [info] currentZPosition:0.0467
2025-04-24 10:27:01 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:01 [debug] Diagnostics for board 50:
2025-04-24 10:27:01 [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 10:27:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:06 ago, cause: software
2025-04-24 10:27:01 [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 10:27:01 [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 10:27:01 [debug] Moves scheduled 4820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 78, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:27:01 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16351, writes 0 timeouts 0
2025-04-24 10:27:01 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36309/37176
2025-04-24 10:27:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8572, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:01 [info] currentZPosition:0.0476
2025-04-24 10:27:02 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:02 [debug] Diagnostics for board 50:
2025-04-24 10:27:02 [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 10:27:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:07 ago, cause: software
2025-04-24 10:27:02 [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 10:27:02 [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 10:27:02 [debug] Moves scheduled 4824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17441
Sync err accum 67, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:02 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 18247, writes 0 timeouts 0
2025-04-24 10:27:02 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36089/37173
2025-04-24 10:27:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8683, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:03 [info] currentZPosition:0.0455
2025-04-24 10:27:03 [debug] Stopped at height 0.043 mm
2025-04-24 10:27:03 [debug] Stopped at height 0.045 mm
2025-04-24 10:27:04 [debug] Stopped at height 0.045 mm
2025-04-24 10:27:04 [debug] Diagnostics for board 50:
2025-04-24 10:27:04 [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 10:27:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:09 ago, cause: software
2025-04-24 10:27:04 [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 10:27:04 [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 10:27:04 [debug] Moves scheduled 4832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 70, peak jitter -3/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:04 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 24495, writes 0 timeouts 0
2025-04-24 10:27:04 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36397/37174
2025-04-24 10:27:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:04 [info] currentZPosition:0.0454
2025-04-24 10:27:06 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:06 [debug] Diagnostics for board 50:
2025-04-24 10:27:06 [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 10:27:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:11 ago, cause: software
2025-04-24 10:27:06 [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 10:27:06 [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 10:27:06 [debug] Moves scheduled 4836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=523, max=17045
Sync err accum 83, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:27:06 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16843, writes 11 timeouts 1
2025-04-24 10:27:06 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35924/37176
2025-04-24 10:27:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8595, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:06 [info] currentZPosition:0.0474
2025-04-24 10:27:06 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:07 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:08 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:08 [debug] Diagnostics for board 50:
2025-04-24 10:27:08 [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 10:27:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:13 ago, cause: software
2025-04-24 10:27:08 [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 10:27:08 [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 10:27:08 [debug] Moves scheduled 4844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=655, max=17857
Sync err accum 95, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:27:08 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 24891, writes 11 timeouts 1
2025-04-24 10:27:08 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 35974/37175
2025-04-24 10:27:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8640, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:08 [info] currentZPosition:0.0467
2025-04-24 10:27:09 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:09 [debug] Diagnostics for board 50:
2025-04-24 10:27:09 [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 10:27:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:14 ago, cause: software
2025-04-24 10:27:09 [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 10:27:09 [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 10:27:09 [debug] Moves scheduled 4848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6944, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:09 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17143, writes 0 timeouts 0
2025-04-24 10:27:09 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35781/37173
2025-04-24 10:27:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8577, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:09 [info] currentZPosition:0.0479
2025-04-24 10:27:10 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:10 [debug] Diagnostics for board 50:
2025-04-24 10:27:10 [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 10:27:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:15 ago, cause: software
2025-04-24 10:27:10 [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 10:27:10 [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 10:27:10 [debug] Moves scheduled 4852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:10 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16459, writes 0 timeouts 0
2025-04-24 10:27:10 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36243/37176
2025-04-24 10:27:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8543, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 794
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:11 [info] currentZPosition:0.0486
2025-04-24 10:27:12 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:12 [debug] Diagnostics for board 50:
2025-04-24 10:27:12 [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 10:27:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:17 ago, cause: software
2025-04-24 10:27:12 [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 10:27:12 [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 10:27:12 [debug] Moves scheduled 4856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 108, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:12 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 18262, writes 0 timeouts 0
2025-04-24 10:27:12 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36387/37172
2025-04-24 10:27:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8663, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:12 [info] currentZPosition:0.0463
2025-04-24 10:27:12 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:14 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:14 [debug] Diagnostics for board 50:
2025-04-24 10:27:14 [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 10:27:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:18 ago, cause: software
2025-04-24 10:27:14 [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 10:27:14 [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 10:27:14 [debug] Moves scheduled 4862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6250, max=17857
Sync err accum 103, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:27:14 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20163, writes 0 timeouts 0
2025-04-24 10:27:14 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36343/37175
2025-04-24 10:27:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8596, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:14 [info] currentZPosition:0.0477
2025-04-24 10:27:14 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:15 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:15 [debug] Diagnostics for board 50:
2025-04-24 10:27:15 [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 10:27:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:20 ago, cause: software
2025-04-24 10:27:15 [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 10:27:15 [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 10:27:15 [debug] Moves scheduled 4868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 94, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:15 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 21491, writes 0 timeouts 0
2025-04-24 10:27:15 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36258/37176
2025-04-24 10:27:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8620, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:15 [info] currentZPosition:0.0473
2025-04-24 10:27:17 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:17 [debug] Diagnostics for board 50:
2025-04-24 10:27:17 [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 10:27:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:21 ago, cause: software
2025-04-24 10:27:17 [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 10:27:17 [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 10:27:17 [debug] Moves scheduled 4872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 84, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:17 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17244, writes 0 timeouts 0
2025-04-24 10:27:17 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35749/37176
2025-04-24 10:27:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:17 [info] currentZPosition:0.0455
2025-04-24 10:27:17 [debug] Stopped at height 0.045 mm
2025-04-24 10:27:18 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:18 [debug] Diagnostics for board 50:
2025-04-24 10:27:18 [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 10:27:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:23 ago, cause: software
2025-04-24 10:27:18 [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 10:27:18 [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 10:27:18 [debug] Moves scheduled 4878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6944, max=17045
Sync err accum 68, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:18 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21047, writes 0 timeouts 0
2025-04-24 10:27:18 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37177
2025-04-24 10:27:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8646, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:18 [info] currentZPosition:0.0471
2025-04-24 10:27:19 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:20 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:20 [debug] Diagnostics for board 50:
2025-04-24 10:27:20 [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 10:27:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:25 ago, cause: software
2025-04-24 10:27:20 [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 10:27:20 [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 10:27:20 [debug] Moves scheduled 4884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:20 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20512, writes 0 timeouts 0
2025-04-24 10:27:20 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35842/37178
2025-04-24 10:27:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8642, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:20 [info] currentZPosition:0.0473
2025-04-24 10:27:20 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:22 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:22 [debug] Diagnostics for board 50:
2025-04-24 10:27:22 [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 10:27:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:26 ago, cause: software
2025-04-24 10:27:22 [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 10:27:22 [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 10:27:22 [debug] Moves scheduled 4890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
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 4294935287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:22 [debug] Driver 0: pos -3401, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20553, writes 0 timeouts 0
2025-04-24 10:27:22 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 35959/37176
2025-04-24 10:27:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8504, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 793
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:22 [info] currentZPosition:0.0500
2025-04-24 10:27:22 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:23 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:23 [debug] Diagnostics for board 50:
2025-04-24 10:27:23 [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 10:27:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:28 ago, cause: software
2025-04-24 10:27:23 [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 10:27:23 [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 10:27:23 [debug] Moves scheduled 4896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:23 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 21104, writes 0 timeouts 0
2025-04-24 10:27:23 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35929/37176
2025-04-24 10:27:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8584, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:23 [info] currentZPosition:0.0486
2025-04-24 10:27:25 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:25 [debug] Diagnostics for board 50:
2025-04-24 10:27:25 [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 10:27:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:30 ago, cause: software
2025-04-24 10:27:25 [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 10:27:25 [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 10:27:25 [debug] Moves scheduled 4900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=6465, max=17045
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 4294932601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:25 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 18016, writes 0 timeouts 0
2025-04-24 10:27:25 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35805/37176
2025-04-24 10:27:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:25 [info] currentZPosition:0.0469
2025-04-24 10:27:25 [debug] Stopped at height 0.046 mm
2025-04-24 10:27:26 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:26 [debug] Diagnostics for board 50:
2025-04-24 10:27:26 [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 10:27:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:31 ago, cause: software
2025-04-24 10:27:26 [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 10:27:26 [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 10:27:26 [debug] Moves scheduled 4906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 79, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:27:26 [debug] Driver 0: pos -3408, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 19922, writes 0 timeouts 0
2025-04-24 10:27:26 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36023/37174
2025-04-24 10:27:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8542, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:26 [info] currentZPosition:0.0495
2025-04-24 10:27:27 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:28 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:28 [debug] Diagnostics for board 50:
2025-04-24 10:27:28 [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 10:27:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:33 ago, cause: software
2025-04-24 10:27:28 [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 10:27:28 [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 10:27:28 [debug] Moves scheduled 4912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 83, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:27:28 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 22115, writes 0 timeouts 0
2025-04-24 10:27:28 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36409/37176
2025-04-24 10:27:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:28 [info] currentZPosition:0.0473
2025-04-24 10:27:29 [debug] Stopped at height 0.045 mm
2025-04-24 10:27:29 [debug] Stopped at height 0.045 mm
2025-04-24 10:27:30 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:30 [debug] Diagnostics for board 50:
2025-04-24 10:27:30 [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 10:27:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:35 ago, cause: software
2025-04-24 10:27:30 [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 10:27:30 [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 10:27:30 [debug] Moves scheduled 4920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931294 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:30 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 24587, writes 0 timeouts 0
2025-04-24 10:27:30 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 286, adv 36155/37176
2025-04-24 10:27:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:30 [info] currentZPosition:0.0479
2025-04-24 10:27:30 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:32 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:32 [debug] Diagnostics for board 50:
2025-04-24 10:27:32 [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 10:27:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:37 ago, cause: software
2025-04-24 10:27:32 [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 10:27:32 [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 10:27:32 [debug] Moves scheduled 4926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=18292
Sync err accum 82, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:32 [debug] Driver 0: pos -3416, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20889, writes 0 timeouts 0
2025-04-24 10:27:32 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36283/37175
2025-04-24 10:27:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8583, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:32 [info] currentZPosition:0.0491
2025-04-24 10:27:33 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:33 [debug] Diagnostics for board 50:
2025-04-24 10:27:33 [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 10:27:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:38 ago, cause: software
2025-04-24 10:27:33 [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 10:27:33 [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 10:27:33 [debug] Moves scheduled 4930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:33 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16751, writes 0 timeouts 0
2025-04-24 10:27:33 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36278/37177
2025-04-24 10:27:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8599, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:33 [info] currentZPosition:0.0488
2025-04-24 10:27:34 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:34 [debug] Diagnostics for board 50:
2025-04-24 10:27:34 [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 10:27:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:39 ago, cause: software
2025-04-24 10:27:34 [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 10:27:34 [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 10:27:34 [debug] Moves scheduled 4934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:34 [debug] Driver 0: pos -3407, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17080, writes 0 timeouts 0
2025-04-24 10:27:34 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36137/37176
2025-04-24 10:27:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8536, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:35 [info] currentZPosition:0.0500
2025-04-24 10:27:36 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:36 [debug] Diagnostics for board 50:
2025-04-24 10:27:36 [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 10:27:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:29:41 ago, cause: software
2025-04-24 10:27:36 [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 10:27:36 [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 10:27:36 [debug] Moves scheduled 4938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 66, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:36 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17283, writes 0 timeouts 0
2025-04-24 10:27:36 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36362/37175
2025-04-24 10:27:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8646, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:36 [info] currentZPosition:0.0479
2025-04-24 10:27:36 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:38 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:38 [debug] Diagnostics for board 50:
2025-04-24 10:27:38 [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 10:27:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:42 ago, cause: software
2025-04-24 10:27:38 [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 10:27:38 [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 10:27:38 [debug] Moves scheduled 4944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5813, max=17045
Sync err accum 83, peak jitter 1/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:27:38 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 21416, writes 0 timeouts 0
2025-04-24 10:27:38 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35983/37172
2025-04-24 10:27:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:38 [info] currentZPosition:0.0476
2025-04-24 10:27:38 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:39 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:39 [debug] Diagnostics for board 50:
2025-04-24 10:27:39 [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 10:27:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:44 ago, cause: software
2025-04-24 10:27:39 [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 10:27:39 [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 10:27:39 [debug] Moves scheduled 4950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6000, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:27:39 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 20103, writes 0 timeouts 0
2025-04-24 10:27:39 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35700/37175
2025-04-24 10:27:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:39 [info] currentZPosition:0.0489
2025-04-24 10:27:41 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:41 [debug] Diagnostics for board 50:
2025-04-24 10:27:41 [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 10:27:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:45 ago, cause: software
2025-04-24 10:27:41 [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 10:27:41 [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 10:27:41 [debug] Moves scheduled 4954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 94, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:41 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17753, writes 0 timeouts 0
2025-04-24 10:27:41 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35854/37177
2025-04-24 10:27:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8653, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:41 [info] currentZPosition:0.0481
2025-04-24 10:27:42 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:42 [debug] Diagnostics for board 50:
2025-04-24 10:27:42 [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 10:27:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:47 ago, cause: software
2025-04-24 10:27:42 [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 10:27:42 [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 10:27:42 [debug] Moves scheduled 4958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17857
Sync err accum 97, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:42 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16598, writes 0 timeouts 0
2025-04-24 10:27:42 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35822/37178
2025-04-24 10:27:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:42 [info] currentZPosition:0.0484
2025-04-24 10:27:43 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:43 [debug] Diagnostics for board 50:
2025-04-24 10:27:43 [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 10:27:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:48 ago, cause: software
2025-04-24 10:27:43 [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 10:27:43 [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 10:27:43 [debug] Moves scheduled 4962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 96, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:43 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17210, writes 0 timeouts 0
2025-04-24 10:27:43 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35695/37176
2025-04-24 10:27:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8586, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 796
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:43 [info] currentZPosition:0.0493
2025-04-24 10:27:45 [debug] Stopped at height 0.047 mm
2025-04-24 10:27:45 [debug] Diagnostics for board 50:
2025-04-24 10:27:45 [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 10:27:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:49 ago, cause: software
2025-04-24 10:27:45 [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 10:27:45 [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 10:27:45 [debug] Moves scheduled 4966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:45 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17488, writes 0 timeouts 0
2025-04-24 10:27:45 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 35922/37177
2025-04-24 10:27:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:45 [info] currentZPosition:0.0467
2025-04-24 10:27:45 [debug] Stopped at height 0.045 mm
2025-04-24 10:27:46 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:46 [debug] Diagnostics for board 50:
2025-04-24 10:27:46 [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 10:27:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:51 ago, cause: software
2025-04-24 10:27:46 [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 10:27:46 [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 10:27:46 [debug] Moves scheduled 4972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6302, max=17857
Sync err accum 87, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:46 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20807, writes 0 timeouts 0
2025-04-24 10:27:46 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36328/37177
2025-04-24 10:27:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8601, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:46 [info] currentZPosition:0.0492
2025-04-24 10:27:47 [debug] Stopped at height 0.051 mm
2025-04-24 10:27:47 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:47 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:48 [debug] Stopped at height 0.051 mm
2025-04-24 10:27:49 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:49 [debug] Diagnostics for board 50:
2025-04-24 10:27:49 [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 10:27:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:54 ago, cause: software
2025-04-24 10:27:49 [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 10:27:49 [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 10:27:49 [debug] Moves scheduled 4984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 69, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:49 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 33043, writes 0 timeouts 0
2025-04-24 10:27:49 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36032/37180
2025-04-24 10:27:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8665, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:49 [info] currentZPosition:0.0483
2025-04-24 10:27:49 [debug] Stopped at height 0.051 mm
2025-04-24 10:27:51 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:51 [debug] Diagnostics for board 50:
2025-04-24 10:27:51 [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 10:27:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:56 ago, cause: software
2025-04-24 10:27:51 [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 10:27:51 [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 10:27:51 [debug] Moves scheduled 4990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:51 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 21433, writes 0 timeouts 0
2025-04-24 10:27:51 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36176/37177
2025-04-24 10:27:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8695, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:51 [info] currentZPosition:0.0479
2025-04-24 10:27:51 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:52 [debug] Stopped at height 0.049 mm
2025-04-24 10:27:52 [debug] Diagnostics for board 50:
2025-04-24 10:27:52 [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 10:27:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:57 ago, cause: software
2025-04-24 10:27:52 [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 10:27:52 [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 10:27:52 [debug] Moves scheduled 4996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:52 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 20338, writes 0 timeouts 0
2025-04-24 10:27:52 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36118/37174
2025-04-24 10:27:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8651, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:52 [info] currentZPosition:0.0488
2025-04-24 10:27:54 [debug] Stopped at height 0.048 mm
2025-04-24 10:27:54 [debug] Diagnostics for board 50:
2025-04-24 10:27:54 [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 10:27:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:29:59 ago, cause: software
2025-04-24 10:27:54 [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 10:27:54 [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 10:27:54 [debug] Moves scheduled 5000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 95, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:54 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17549, writes 0 timeouts 0
2025-04-24 10:27:54 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36060/37174
2025-04-24 10:27:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:54 [info] currentZPosition:0.0484
2025-04-24 10:27:55 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:55 [debug] Diagnostics for board 50:
2025-04-24 10:27:55 [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 10:27:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:00 ago, cause: software
2025-04-24 10:27:55 [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 10:27:55 [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 10:27:55 [debug] Moves scheduled 5004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6465, max=17045
Sync err accum 108, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:55 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16304, writes 0 timeouts 0
2025-04-24 10:27:55 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36234/37174
2025-04-24 10:27:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8618, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:55 [info] currentZPosition:0.0495
2025-04-24 10:27:56 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:56 [debug] Diagnostics for board 50:
2025-04-24 10:27:56 [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 10:27:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:01 ago, cause: software
2025-04-24 10:27:56 [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 10:27:56 [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 10:27:56 [debug] Moves scheduled 5008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 113, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:27:56 [debug] Driver 0: pos -3414, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17191, writes 0 timeouts 0
2025-04-24 10:27:56 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35904/37166
2025-04-24 10:27:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8573, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:56 [info] currentZPosition:0.0503
2025-04-24 10:27:58 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:58 [debug] Diagnostics for board 50:
2025-04-24 10:27:58 [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 10:27:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:03 ago, cause: software
2025-04-24 10:27:58 [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 10:27:58 [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 10:27:58 [debug] Moves scheduled 5012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6000, max=18292
Sync err accum 118, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:58 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16631, writes 0 timeouts 0
2025-04-24 10:27:58 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36326/37169
2025-04-24 10:27:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8569, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 795
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:58 [info] currentZPosition:0.0504
2025-04-24 10:27:59 [debug] Stopped at height 0.050 mm
2025-04-24 10:27:59 [debug] Diagnostics for board 50:
2025-04-24 10:27:59 [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 10:27:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:04 ago, cause: software
2025-04-24 10:27:59 [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 10:27:59 [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 10:27:59 [debug] Moves scheduled 5016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7009, max=17045
Sync err accum 118, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:27:59 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17738, writes 0 timeouts 0
2025-04-24 10:27:59 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35681/37174
2025-04-24 10:27:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:27:59 [info] currentZPosition:0.0495
2025-04-24 10:28:01 [debug] Stopped at height 0.048 mm
2025-04-24 10:28:01 [debug] Diagnostics for board 50:
2025-04-24 10:28:01 [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 10:28:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:05 ago, cause: software
2025-04-24 10:28:01 [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 10:28:01 [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 10:28:01 [debug] Moves scheduled 5020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 117, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:01 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17204, writes 0 timeouts 0
2025-04-24 10:28:01 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36383/37173
2025-04-24 10:28:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:01 [info] currentZPosition:0.0477
2025-04-24 10:28:01 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:02 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:02 [debug] Diagnostics for board 50:
2025-04-24 10:28:02 [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 10:28:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:07 ago, cause: software
2025-04-24 10:28:02 [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 10:28:02 [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 10:28:02 [debug] Moves scheduled 5026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6355, max=17045
Sync err accum 114, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:02 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20812, writes 0 timeouts 0
2025-04-24 10:28:02 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36375/37177
2025-04-24 10:28:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:02 [info] currentZPosition:0.0491
2025-04-24 10:28:04 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:04 [debug] Diagnostics for board 50:
2025-04-24 10:28:04 [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 10:28:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:08 ago, cause: software
2025-04-24 10:28:04 [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 10:28:04 [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 10:28:04 [debug] Moves scheduled 5030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 111, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:04 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16695, writes 0 timeouts 0
2025-04-24 10:28:04 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35740/37177
2025-04-24 10:28:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8651, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:04 [info] currentZPosition:0.0490
2025-04-24 10:28:05 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:05 [debug] Diagnostics for board 50:
2025-04-24 10:28:05 [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 10:28:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:10 ago, cause: software
2025-04-24 10:28:05 [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 10:28:05 [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 10:28:05 [debug] Moves scheduled 5034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 102, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:05 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17484, writes 0 timeouts 0
2025-04-24 10:28:05 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36262/37177
2025-04-24 10:28:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:05 [info] currentZPosition:0.0490
2025-04-24 10:28:06 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:06 [debug] Diagnostics for board 50:
2025-04-24 10:28:06 [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 10:28:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:11 ago, cause: software
2025-04-24 10:28:06 [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 10:28:06 [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 10:28:06 [debug] Moves scheduled 5038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
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 4294935193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:06 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16520, writes 0 timeouts 0
2025-04-24 10:28:06 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35696/37176
2025-04-24 10:28:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:06 [info] currentZPosition:0.0494
2025-04-24 10:28:08 [debug] Stopped at height 0.048 mm
2025-04-24 10:28:08 [debug] Diagnostics for board 50:
2025-04-24 10:28:08 [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 10:28:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:12 ago, cause: software
2025-04-24 10:28:08 [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 10:28:08 [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 10:28:08 [debug] Moves scheduled 5042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 79, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:08 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17935, writes 0 timeouts 0
2025-04-24 10:28:08 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36134/37174
2025-04-24 10:28:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:08 [info] currentZPosition:0.0478
2025-04-24 10:28:08 [debug] Stopped at height 0.047 mm
2025-04-24 10:28:09 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:09 [debug] Diagnostics for board 50:
2025-04-24 10:28:09 [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 10:28:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:14 ago, cause: software
2025-04-24 10:28:09 [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 10:28:09 [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 10:28:09 [debug] Moves scheduled 5048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:09 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20224, writes 0 timeouts 0
2025-04-24 10:28:09 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36382/37177
2025-04-24 10:28:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:09 [info] currentZPosition:0.0493
2025-04-24 10:28:10 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:11 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:11 [debug] Diagnostics for board 50:
2025-04-24 10:28:11 [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 10:28:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:16 ago, cause: software
2025-04-24 10:28:11 [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 10:28:11 [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 10:28:11 [debug] Moves scheduled 5054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 73, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:11 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 21511, writes 0 timeouts 0
2025-04-24 10:28:11 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35978/37174
2025-04-24 10:28:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:11 [info] currentZPosition:0.0487
2025-04-24 10:28:12 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:12 [debug] Diagnostics for board 50:
2025-04-24 10:28:12 [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 10:28:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:17 ago, cause: software
2025-04-24 10:28:12 [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 10:28:12 [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 10:28:12 [debug] Moves scheduled 5058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:28:12 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16318, writes 0 timeouts 0
2025-04-24 10:28:12 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35689/37174
2025-04-24 10:28:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:12 [info] currentZPosition:0.0500
2025-04-24 10:28:13 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:14 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:14 [debug] Diagnostics for board 50:
2025-04-24 10:28:14 [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 10:28:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:19 ago, cause: software
2025-04-24 10:28:14 [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 10:28:14 [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 10:28:14 [debug] Moves scheduled 5064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:28:14 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 21250, writes 0 timeouts 0
2025-04-24 10:28:14 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35853/37171
2025-04-24 10:28:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8601, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:14 [info] currentZPosition:0.0503
2025-04-24 10:28:14 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:16 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:16 [debug] Diagnostics for board 50:
2025-04-24 10:28:16 [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 10:28:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:21 ago, cause: software
2025-04-24 10:28:16 [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 10:28:16 [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 10:28:16 [debug] Moves scheduled 5070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6465, max=18292
Sync err accum 104, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:16 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20984, writes 0 timeouts 0
2025-04-24 10:28:16 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35806/37174
2025-04-24 10:28:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:16 [info] currentZPosition:0.0488
2025-04-24 10:28:16 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:17 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:17 [debug] Diagnostics for board 50:
2025-04-24 10:28:17 [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 10:28:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:22 ago, cause: software
2025-04-24 10:28:17 [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 10:28:17 [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 10:28:17 [debug] Moves scheduled 5076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6250, max=17857
Sync err accum 108, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:17 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20749, writes 0 timeouts 0
2025-04-24 10:28:17 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35725/37175
2025-04-24 10:28:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8594, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:17 [info] currentZPosition:0.0506
2025-04-24 10:28:19 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:19 [debug] Diagnostics for board 50:
2025-04-24 10:28:19 [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 10:28:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:24 ago, cause: software
2025-04-24 10:28:19 [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 10:28:19 [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 10:28:19 [debug] Moves scheduled 5080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 103, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294374494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:19 [debug] Driver 0: pos -3435, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 28385, writes 0 timeouts 0
2025-04-24 10:28:19 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35930/37177
2025-04-24 10:28:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8678, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:20 [info] currentZPosition:0.0489
2025-04-24 10:28:20 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:21 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:21 [debug] Diagnostics for board 50:
2025-04-24 10:28:21 [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 10:28:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:26 ago, cause: software
2025-04-24 10:28:21 [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 10:28:21 [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 10:28:21 [debug] Moves scheduled 5086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6521, max=18292
Sync err accum 96, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:21 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 21389, writes 0 timeouts 0
2025-04-24 10:28:21 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36352/37179
2025-04-24 10:28:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8633, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:21 [info] currentZPosition:0.0499
2025-04-24 10:28:23 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:23 [debug] Diagnostics for board 50:
2025-04-24 10:28:23 [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 10:28:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:28 ago, cause: software
2025-04-24 10:28:23 [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 10:28:23 [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 10:28:23 [debug] Moves scheduled 5090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:23 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16716, writes 0 timeouts 0
2025-04-24 10:28:23 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35998/37179
2025-04-24 10:28:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:23 [info] currentZPosition:0.0496
2025-04-24 10:28:24 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:24 [debug] Diagnostics for board 50:
2025-04-24 10:28:24 [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 10:28:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:30:29 ago, cause: software
2025-04-24 10:28:24 [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 10:28:24 [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 10:28:24 [debug] Moves scheduled 5094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=517, max=17045
Sync err accum 77, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:24 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17319, writes 11 timeouts 1
2025-04-24 10:28:24 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36218/37178
2025-04-24 10:28:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8646, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:24 [info] currentZPosition:0.0497
2025-04-24 10:28:25 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:25 [debug] Diagnostics for board 50:
2025-04-24 10:28:25 [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 10:28:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:30 ago, cause: software
2025-04-24 10:28:25 [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 10:28:25 [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 10:28:25 [debug] Moves scheduled 5098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 67, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:25 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16430, writes 0 timeouts 0
2025-04-24 10:28:25 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36122/37176
2025-04-24 10:28:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:25 [info] currentZPosition:0.0503
2025-04-24 10:28:27 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:27 [debug] Diagnostics for board 50:
2025-04-24 10:28:27 [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 10:28:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:32 ago, cause: software
2025-04-24 10:28:27 [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 10:28:27 [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 10:28:27 [debug] Moves scheduled 5102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:27 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17631, writes 0 timeouts 0
2025-04-24 10:28:27 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36065/37178
2025-04-24 10:28:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8659, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:27 [info] currentZPosition:0.0495
2025-04-24 10:28:28 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:28 [debug] Diagnostics for board 50:
2025-04-24 10:28:28 [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 10:28:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:33 ago, cause: software
2025-04-24 10:28:28 [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 10:28:28 [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 10:28:28 [debug] Moves scheduled 5106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 79, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:28:28 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16396, writes 0 timeouts 0
2025-04-24 10:28:28 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36158/37175
2025-04-24 10:28:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:28 [info] currentZPosition:0.0504
2025-04-24 10:28:30 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:30 [debug] Diagnostics for board 50:
2025-04-24 10:28:30 [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 10:28:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:34 ago, cause: software
2025-04-24 10:28:30 [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 10:28:30 [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 10:28:30 [debug] Moves scheduled 5110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6696, max=18292
Sync err accum 90, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:30 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17370, writes 0 timeouts 0
2025-04-24 10:28:30 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35956/37176
2025-04-24 10:28:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8610, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:30 [info] currentZPosition:0.0504
2025-04-24 10:28:31 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:31 [debug] Diagnostics for board 50:
2025-04-24 10:28:31 [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 10:28:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:36 ago, cause: software
2025-04-24 10:28:31 [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 10:28:31 [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 10:28:31 [debug] Moves scheduled 5114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 102, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:31 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16640, writes 0 timeouts 0
2025-04-24 10:28:31 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36275/37176
2025-04-24 10:28:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:31 [info] currentZPosition:0.0503
2025-04-24 10:28:32 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:32 [debug] Diagnostics for board 50:
2025-04-24 10:28:32 [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 10:28:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:37 ago, cause: software
2025-04-24 10:28:32 [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 10:28:32 [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 10:28:32 [debug] Moves scheduled 5118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 109, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:32 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17574, writes 0 timeouts 0
2025-04-24 10:28:32 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35835/37176
2025-04-24 10:28:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:32 [info] currentZPosition:0.0497
2025-04-24 10:28:34 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:34 [debug] Diagnostics for board 50:
2025-04-24 10:28:34 [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 10:28:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:38 ago, cause: software
2025-04-24 10:28:34 [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 10:28:34 [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 10:28:34 [debug] Moves scheduled 5122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 115, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:34 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16738, writes 0 timeouts 0
2025-04-24 10:28:34 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36344/37177
2025-04-24 10:28:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:34 [info] currentZPosition:0.0494
2025-04-24 10:28:35 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:35 [debug] Diagnostics for board 50:
2025-04-24 10:28:35 [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 10:28:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:40 ago, cause: software
2025-04-24 10:28:35 [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 10:28:35 [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 10:28:35 [debug] Moves scheduled 5126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=17857
Sync err accum 115, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294928050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:35 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17091, writes 0 timeouts 0
2025-04-24 10:28:35 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35709/37177
2025-04-24 10:28:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:35 [info] currentZPosition:0.0505
2025-04-24 10:28:36 [debug] Stopped at height 0.048 mm
2025-04-24 10:28:36 [debug] Diagnostics for board 50:
2025-04-24 10:28:36 [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 10:28:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:41 ago, cause: software
2025-04-24 10:28:36 [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 10:28:36 [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 10:28:36 [debug] Moves scheduled 5130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 117, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:36 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17403, writes 0 timeouts 0
2025-04-24 10:28:36 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36420/37177
2025-04-24 10:28:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:36 [info] currentZPosition:0.0480
2025-04-24 10:28:37 [debug] Stopped at height 0.046 mm
2025-04-24 10:28:37 [debug] Stopped at height 0.046 mm
2025-04-24 10:28:38 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:38 [debug] Diagnostics for board 50:
2025-04-24 10:28:38 [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 10:28:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:43 ago, cause: software
2025-04-24 10:28:38 [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 10:28:38 [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 10:28:38 [debug] Moves scheduled 5138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 114, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:38 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 24850, writes 0 timeouts 0
2025-04-24 10:28:38 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36330/37173
2025-04-24 10:28:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8654, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:38 [info] currentZPosition:0.0499
2025-04-24 10:28:39 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:40 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:40 [debug] Diagnostics for board 50:
2025-04-24 10:28:40 [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 10:28:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:45 ago, cause: software
2025-04-24 10:28:40 [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 10:28:40 [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 10:28:40 [debug] Moves scheduled 5144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 107, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294928706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:40 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20387, writes 0 timeouts 0
2025-04-24 10:28:40 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35792/37174
2025-04-24 10:28:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:40 [info] currentZPosition:0.0506
2025-04-24 10:28:41 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:41 [debug] Diagnostics for board 50:
2025-04-24 10:28:41 [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 10:28:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:46 ago, cause: software
2025-04-24 10:28:41 [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 10:28:41 [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 10:28:41 [debug] Moves scheduled 5148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:41 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17205, writes 0 timeouts 0
2025-04-24 10:28:41 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36204/37178
2025-04-24 10:28:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8599, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:41 [info] currentZPosition:0.0511
2025-04-24 10:28:43 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:43 [debug] Diagnostics for board 50:
2025-04-24 10:28:43 [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 10:28:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:48 ago, cause: software
2025-04-24 10:28:43 [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 10:28:43 [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 10:28:43 [debug] Moves scheduled 5152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 88, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:28:43 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16763, writes 0 timeouts 0
2025-04-24 10:28:43 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35841/37179
2025-04-24 10:28:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:43 [info] currentZPosition:0.0505
2025-04-24 10:28:44 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:44 [debug] Diagnostics for board 50:
2025-04-24 10:28:44 [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 10:28:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:49 ago, cause: software
2025-04-24 10:28:44 [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 10:28:44 [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 10:28:44 [debug] Moves scheduled 5156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 73, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:44 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17920, writes 0 timeouts 0
2025-04-24 10:28:44 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37173
2025-04-24 10:28:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:44 [info] currentZPosition:0.0487
2025-04-24 10:28:45 [debug] Stopped at height 0.048 mm
2025-04-24 10:28:46 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:46 [debug] Diagnostics for board 50:
2025-04-24 10:28:46 [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 10:28:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:51 ago, cause: software
2025-04-24 10:28:46 [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 10:28:46 [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 10:28:46 [debug] Moves scheduled 5162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17857
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:46 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 20199, writes 0 timeouts 0
2025-04-24 10:28:46 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 35948/37177
2025-04-24 10:28:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8655, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:46 [info] currentZPosition:0.0501
2025-04-24 10:28:46 [debug] Stopped at height 0.052 mm
2025-04-24 10:28:47 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:48 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:48 [debug] Diagnostics for board 50:
2025-04-24 10:28:48 [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 10:28:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:53 ago, cause: software
2025-04-24 10:28:48 [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 10:28:48 [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 10:28:48 [debug] Moves scheduled 5170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:28:48 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 24931, writes 0 timeouts 0
2025-04-24 10:28:48 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 35976/37177
2025-04-24 10:28:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8595, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:48 [info] currentZPosition:0.0515
2025-04-24 10:28:48 [debug] Stopped at height 0.049 mm
2025-04-24 10:28:49 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:49 [debug] Diagnostics for board 50:
2025-04-24 10:28:49 [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 10:28:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:54 ago, cause: software
2025-04-24 10:28:49 [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 10:28:49 [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 10:28:49 [debug] Moves scheduled 5176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:49 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20517, writes 0 timeouts 0
2025-04-24 10:28:49 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36071/37177
2025-04-24 10:28:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8601, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:49 [info] currentZPosition:0.0515
2025-04-24 10:28:50 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:51 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:51 [debug] Diagnostics for board 50:
2025-04-24 10:28:51 [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 10:28:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:56 ago, cause: software
2025-04-24 10:28:51 [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 10:28:51 [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 10:28:51 [debug] Moves scheduled 5182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:28:51 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 21214, writes 0 timeouts 0
2025-04-24 10:28:51 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35857/37176
2025-04-24 10:28:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:51 [info] currentZPosition:0.0515
2025-04-24 10:28:51 [debug] Stopped at height 0.053 mm
2025-04-24 10:28:52 [debug] Stopped at height 0.050 mm
2025-04-24 10:28:53 [debug] Stopped at height 0.052 mm
2025-04-24 10:28:53 [debug] Diagnostics for board 50:
2025-04-24 10:28:53 [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 10:28:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:58 ago, cause: software
2025-04-24 10:28:53 [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 10:28:53 [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 10:28:53 [debug] Moves scheduled 5190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933056 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:53 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 24585, writes 0 timeouts 0
2025-04-24 10:28:53 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36143/37175
2025-04-24 10:28:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:53 [info] currentZPosition:0.0516
2025-04-24 10:28:54 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:54 [debug] Diagnostics for board 50:
2025-04-24 10:28:54 [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 10:28:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:30:59 ago, cause: software
2025-04-24 10:28:54 [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 10:28:54 [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 10:28:54 [debug] Moves scheduled 5194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:54 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17424, writes 0 timeouts 0
2025-04-24 10:28:54 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35731/37176
2025-04-24 10:28:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8618, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:55 [info] currentZPosition:0.0515
2025-04-24 10:28:56 [debug] Stopped at height 0.052 mm
2025-04-24 10:28:56 [debug] Diagnostics for board 50:
2025-04-24 10:28:56 [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 10:28:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:01 ago, cause: software
2025-04-24 10:28:56 [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 10:28:56 [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 10:28:56 [debug] Moves scheduled 5198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=17857
Sync err accum 96, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294937095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:56 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16521, writes 0 timeouts 0
2025-04-24 10:28:56 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36214/37172
2025-04-24 10:28:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8599, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:56 [info] currentZPosition:0.0519
2025-04-24 10:28:57 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:57 [debug] Diagnostics for board 50:
2025-04-24 10:28:57 [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 10:28:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:02 ago, cause: software
2025-04-24 10:28:57 [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 10:28:57 [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 10:28:57 [debug] Moves scheduled 5202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 92, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:28:57 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17614, writes 0 timeouts 0
2025-04-24 10:28:57 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36352/37175
2025-04-24 10:28:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8643, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:57 [info] currentZPosition:0.0511
2025-04-24 10:28:59 [debug] Stopped at height 0.051 mm
2025-04-24 10:28:59 [debug] Diagnostics for board 50:
2025-04-24 10:28:59 [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 10:28:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:03 ago, cause: software
2025-04-24 10:28:59 [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 10:28:59 [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 10:28:59 [debug] Moves scheduled 5206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 82, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:28:59 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16633, writes 0 timeouts 0
2025-04-24 10:28:59 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36284/37175
2025-04-24 10:28:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8645, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:28:59 [info] currentZPosition:0.0510
2025-04-24 10:29:00 [debug] Stopped at height 0.050 mm
2025-04-24 10:29:00 [debug] Diagnostics for board 50:
2025-04-24 10:29:00 [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 10:29:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:05 ago, cause: software
2025-04-24 10:29:00 [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 10:29:00 [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 10:29:00 [debug] Moves scheduled 5210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17441
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:00 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17605, writes 0 timeouts 0
2025-04-24 10:29:00 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36248/37175
2025-04-24 10:29:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8686, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:00 [info] currentZPosition:0.0502
2025-04-24 10:29:01 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:01 [debug] Diagnostics for board 50:
2025-04-24 10:29:01 [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 10:29:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:31:06 ago, cause: software
2025-04-24 10:29:01 [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 10:29:01 [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 10:29:01 [debug] Moves scheduled 5214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 60, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:01 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16446, writes 0 timeouts 0
2025-04-24 10:29:01 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36367/37177
2025-04-24 10:29:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:01 [info] currentZPosition:0.0506
2025-04-24 10:29:03 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:03 [debug] Diagnostics for board 50:
2025-04-24 10:29:03 [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 10:29:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:07 ago, cause: software
2025-04-24 10:29:03 [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 10:29:03 [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 10:29:03 [debug] Moves scheduled 5218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter -1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:03 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17225, writes 0 timeouts 0
2025-04-24 10:29:03 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36132/37177
2025-04-24 10:29:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:03 [info] currentZPosition:0.0514
2025-04-24 10:29:04 [debug] Stopped at height 0.050 mm
2025-04-24 10:29:04 [debug] Diagnostics for board 50:
2025-04-24 10:29:04 [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 10:29:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:09 ago, cause: software
2025-04-24 10:29:04 [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 10:29:04 [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 10:29:04 [debug] Moves scheduled 5222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 87, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:04 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17154, writes 0 timeouts 0
2025-04-24 10:29:04 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35845/37174
2025-04-24 10:29:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:04 [info] currentZPosition:0.0498
2025-04-24 10:29:04 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:06 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:06 [debug] Diagnostics for board 50:
2025-04-24 10:29:06 [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 10:29:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:10 ago, cause: software
2025-04-24 10:29:06 [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 10:29:06 [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 10:29:06 [debug] Moves scheduled 5228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 102, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:06 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20687, writes 0 timeouts 0
2025-04-24 10:29:06 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36031/37172
2025-04-24 10:29:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8629, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:06 [info] currentZPosition:0.0514
2025-04-24 10:29:07 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:07 [debug] Diagnostics for board 50:
2025-04-24 10:29:07 [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 10:29:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:12 ago, cause: software
2025-04-24 10:29:07 [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 10:29:07 [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 10:29:07 [debug] Moves scheduled 5232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 110, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:07 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16379, writes 0 timeouts 0
2025-04-24 10:29:07 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36086/37174
2025-04-24 10:29:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8590, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:07 [info] currentZPosition:0.0522
2025-04-24 10:29:08 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:08 [debug] Diagnostics for board 50:
2025-04-24 10:29:08 [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 10:29:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:13 ago, cause: software
2025-04-24 10:29:08 [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 10:29:08 [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 10:29:08 [debug] Moves scheduled 5236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 116, peak jitter 1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:08 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17758, writes 0 timeouts 0
2025-04-24 10:29:08 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35910/37175
2025-04-24 10:29:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8654, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:08 [info] currentZPosition:0.0509
2025-04-24 10:29:09 [debug] Stopped at height 0.050 mm
2025-04-24 10:29:10 [debug] Stopped at height 0.050 mm
2025-04-24 10:29:10 [debug] Diagnostics for board 50:
2025-04-24 10:29:10 [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 10:29:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:15 ago, cause: software
2025-04-24 10:29:10 [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 10:29:10 [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 10:29:10 [debug] Moves scheduled 5242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6521, max=18292
Sync err accum 120, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:10 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 20856, writes 0 timeouts 0
2025-04-24 10:29:10 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36138/37174
2025-04-24 10:29:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8692, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:10 [info] currentZPosition:0.0503
2025-04-24 10:29:11 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:11 [debug] Diagnostics for board 50:
2025-04-24 10:29:11 [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 10:29:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:16 ago, cause: software
2025-04-24 10:29:11 [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 10:29:11 [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 10:29:11 [debug] Moves scheduled 5246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 121, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:11 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16987, writes 0 timeouts 0
2025-04-24 10:29:11 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 35809/37177
2025-04-24 10:29:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8640, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:11 [info] currentZPosition:0.0513
2025-04-24 10:29:13 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:13 [debug] Diagnostics for board 50:
2025-04-24 10:29:13 [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 10:29:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:18 ago, cause: software
2025-04-24 10:29:13 [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 10:29:13 [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 10:29:13 [debug] Moves scheduled 5250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=18292
Sync err accum 119, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:13 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16347, writes 0 timeouts 0
2025-04-24 10:29:13 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36252/37176
2025-04-24 10:29:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8589, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:13 [info] currentZPosition:0.0523
2025-04-24 10:29:14 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:14 [debug] Diagnostics for board 50:
2025-04-24 10:29:14 [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 10:29:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:19 ago, cause: software
2025-04-24 10:29:14 [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 10:29:14 [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 10:29:14 [debug] Moves scheduled 5254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 115, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:14 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17287, writes 0 timeouts 0
2025-04-24 10:29:14 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35683/37176
2025-04-24 10:29:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8577, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:14 [info] currentZPosition:0.0525
2025-04-24 10:29:15 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:15 [debug] Diagnostics for board 50:
2025-04-24 10:29:15 [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 10:29:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:20 ago, cause: software
2025-04-24 10:29:15 [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 10:29:15 [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 10:29:15 [debug] Moves scheduled 5258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 108, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:15 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16898, writes 0 timeouts 0
2025-04-24 10:29:15 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36015/37178
2025-04-24 10:29:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8621, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:16 [info] currentZPosition:0.0517
2025-04-24 10:29:17 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:17 [debug] Diagnostics for board 50:
2025-04-24 10:29:17 [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 10:29:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:22 ago, cause: software
2025-04-24 10:29:17 [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 10:29:17 [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 10:29:17 [debug] Moves scheduled 5262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 98, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:17 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17527, writes 0 timeouts 0
2025-04-24 10:29:17 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36334/37177
2025-04-24 10:29:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8655, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:17 [info] currentZPosition:0.0510
2025-04-24 10:29:18 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:18 [debug] Diagnostics for board 50:
2025-04-24 10:29:18 [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 10:29:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:23 ago, cause: software
2025-04-24 10:29:18 [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 10:29:18 [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 10:29:18 [debug] Moves scheduled 5266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 88, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:29:18 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16606, writes 0 timeouts 0
2025-04-24 10:29:18 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36410/37177
2025-04-24 10:29:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8644, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:18 [info] currentZPosition:0.0512
2025-04-24 10:29:20 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:20 [debug] Diagnostics for board 50:
2025-04-24 10:29:20 [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 10:29:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:24 ago, cause: software
2025-04-24 10:29:20 [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 10:29:20 [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 10:29:20 [debug] Moves scheduled 5270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=7009, max=17045
Sync err accum 73, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:20 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17396, writes 0 timeouts 0
2025-04-24 10:29:20 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36193/37177
2025-04-24 10:29:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:20 [info] currentZPosition:0.0511
2025-04-24 10:29:21 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:21 [debug] Diagnostics for board 50:
2025-04-24 10:29:21 [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 10:29:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:26 ago, cause: software
2025-04-24 10:29:21 [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 10:29:21 [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 10:29:21 [debug] Moves scheduled 5274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 61, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:21 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16635, writes 0 timeouts 0
2025-04-24 10:29:21 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35681/37179
2025-04-24 10:29:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8656, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:21 [info] currentZPosition:0.0510
2025-04-24 10:29:22 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:22 [debug] Diagnostics for board 50:
2025-04-24 10:29:22 [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 10:29:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:27 ago, cause: software
2025-04-24 10:29:22 [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 10:29:22 [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 10:29:22 [debug] Moves scheduled 5278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:22 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16914, writes 0 timeouts 0
2025-04-24 10:29:22 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37172
2025-04-24 10:29:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8596, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:22 [info] currentZPosition:0.0522
2025-04-24 10:29:24 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:24 [debug] Diagnostics for board 50:
2025-04-24 10:29:24 [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 10:29:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:28 ago, cause: software
2025-04-24 10:29:24 [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 10:29:24 [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 10:29:24 [debug] Moves scheduled 5282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 82, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:24 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16956, writes 0 timeouts 0
2025-04-24 10:29:24 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35774/37172
2025-04-24 10:29:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8646, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:24 [info] currentZPosition:0.0512
2025-04-24 10:29:25 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:25 [debug] Diagnostics for board 50:
2025-04-24 10:29:25 [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 10:29:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:30 ago, cause: software
2025-04-24 10:29:25 [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 10:29:25 [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 10:29:25 [debug] Moves scheduled 5286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6302, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:25 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17019, writes 0 timeouts 0
2025-04-24 10:29:25 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36005/37174
2025-04-24 10:29:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8586, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:25 [info] currentZPosition:0.0523
2025-04-24 10:29:26 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:26 [debug] Diagnostics for board 50:
2025-04-24 10:29:26 [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 10:29:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:31 ago, cause: software
2025-04-24 10:29:26 [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 10:29:26 [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 10:29:26 [debug] Moves scheduled 5290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:26 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16714, writes 0 timeouts 0
2025-04-24 10:29:26 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35870/37174
2025-04-24 10:29:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:26 [info] currentZPosition:0.0521
2025-04-24 10:29:28 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:28 [debug] Diagnostics for board 50:
2025-04-24 10:29:28 [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 10:29:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:33 ago, cause: software
2025-04-24 10:29:28 [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 10:29:28 [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 10:29:28 [debug] Moves scheduled 5294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 98, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:28 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17516, writes 0 timeouts 0
2025-04-24 10:29:28 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35876/37173
2025-04-24 10:29:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8629, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:28 [info] currentZPosition:0.0516
2025-04-24 10:29:29 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:29 [debug] Diagnostics for board 50:
2025-04-24 10:29:29 [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 10:29:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:34 ago, cause: software
2025-04-24 10:29:29 [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 10:29:29 [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 10:29:29 [debug] Moves scheduled 5298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:29 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16529, writes 0 timeouts 0
2025-04-24 10:29:29 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35887/37174
2025-04-24 10:29:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:29 [info] currentZPosition:0.0520
2025-04-24 10:29:30 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:30 [debug] Diagnostics for board 50:
2025-04-24 10:29:30 [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 10:29:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:35 ago, cause: software
2025-04-24 10:29:30 [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 10:29:30 [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 10:29:30 [debug] Moves scheduled 5302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:30 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17463, writes 0 timeouts 0
2025-04-24 10:29:30 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35783/37176
2025-04-24 10:29:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:31 [info] currentZPosition:0.0516
2025-04-24 10:29:32 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:32 [debug] Diagnostics for board 50:
2025-04-24 10:29:32 [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 10:29:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:37 ago, cause: software
2025-04-24 10:29:32 [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 10:29:32 [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 10:29:32 [debug] Moves scheduled 5306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=118, frequency (Hz): min=6465, max=17045
Sync err accum 93, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:29:32 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16895, writes 0 timeouts 0
2025-04-24 10:29:32 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35969/37175
2025-04-24 10:29:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:32 [info] currentZPosition:0.0508
2025-04-24 10:29:33 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:33 [debug] Diagnostics for board 50:
2025-04-24 10:29:33 [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 10:29:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:38 ago, cause: software
2025-04-24 10:29:33 [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 10:29:33 [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 10:29:33 [debug] Moves scheduled 5310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:33 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16904, writes 0 timeouts 0
2025-04-24 10:29:33 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35682/37177
2025-04-24 10:29:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8615, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:33 [info] currentZPosition:0.0519
2025-04-24 10:29:35 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:35 [debug] Diagnostics for board 50:
2025-04-24 10:29:35 [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 10:29:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:39 ago, cause: software
2025-04-24 10:29:35 [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 10:29:35 [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 10:29:35 [debug] Moves scheduled 5314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:35 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17036, writes 0 timeouts 0
2025-04-24 10:29:35 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36073/37177
2025-04-24 10:29:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8679, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:35 [info] currentZPosition:0.0507
2025-04-24 10:29:36 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:36 [debug] Diagnostics for board 50:
2025-04-24 10:29:36 [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 10:29:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:41 ago, cause: software
2025-04-24 10:29:36 [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 10:29:36 [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 10:29:36 [debug] Moves scheduled 5318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 64, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:36 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17048, writes 0 timeouts 0
2025-04-24 10:29:36 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36334/37179
2025-04-24 10:29:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:36 [info] currentZPosition:0.0517
2025-04-24 10:29:37 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:37 [debug] Diagnostics for board 50:
2025-04-24 10:29:37 [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 10:29:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:42 ago, cause: software
2025-04-24 10:29:37 [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 10:29:37 [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 10:29:37 [debug] Moves scheduled 5322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6410, max=17045
Sync err accum 65, peak jitter -2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:37 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16557, writes 0 timeouts 0
2025-04-24 10:29:37 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36116/37174
2025-04-24 10:29:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8615, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:37 [info] currentZPosition:0.0519
2025-04-24 10:29:39 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:39 [debug] Diagnostics for board 50:
2025-04-24 10:29:39 [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 10:29:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:43 ago, cause: software
2025-04-24 10:29:39 [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 10:29:39 [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 10:29:39 [debug] Moves scheduled 5326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=18292
Sync err accum 80, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:39 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17259, writes 0 timeouts 0
2025-04-24 10:29:39 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36230/37173
2025-04-24 10:29:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:39 [info] currentZPosition:0.0521
2025-04-24 10:29:40 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:40 [debug] Diagnostics for board 50:
2025-04-24 10:29:40 [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 10:29:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:45 ago, cause: software
2025-04-24 10:29:40 [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 10:29:40 [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 10:29:40 [debug] Moves scheduled 5330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6756, max=18292
Sync err accum 91, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:40 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16623, writes 0 timeouts 0
2025-04-24 10:29:40 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36214/37172
2025-04-24 10:29:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:40 [info] currentZPosition:0.0521
2025-04-24 10:29:41 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:41 [debug] Diagnostics for board 50:
2025-04-24 10:29:41 [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 10:29:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:46 ago, cause: software
2025-04-24 10:29:41 [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 10:29:41 [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 10:29:41 [debug] Moves scheduled 5334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17857
Sync err accum 103, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:41 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17585, writes 0 timeouts 0
2025-04-24 10:29:41 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36129/37171
2025-04-24 10:29:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:41 [info] currentZPosition:0.0511
2025-04-24 10:29:43 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:43 [debug] Diagnostics for board 50:
2025-04-24 10:29:43 [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 10:29:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:48 ago, cause: software
2025-04-24 10:29:43 [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 10:29:43 [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 10:29:43 [debug] Moves scheduled 5338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17045
Sync err accum 113, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:43 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17360, writes 0 timeouts 0
2025-04-24 10:29:43 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36260/37171
2025-04-24 10:29:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:43 [info] currentZPosition:0.0512
2025-04-24 10:29:44 [debug] Stopped at height 0.050 mm
2025-04-24 10:29:44 [debug] Diagnostics for board 50:
2025-04-24 10:29:44 [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 10:29:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:49 ago, cause: software
2025-04-24 10:29:44 [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 10:29:44 [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 10:29:44 [debug] Moves scheduled 5342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=660, max=17045
Sync err accum 119, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:44 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17517, writes 11 timeouts 1
2025-04-24 10:29:44 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36030/37173
2025-04-24 10:29:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:44 [info] currentZPosition:0.0504
2025-04-24 10:29:45 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:45 [debug] Diagnostics for board 50:
2025-04-24 10:29:45 [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 10:29:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:50 ago, cause: software
2025-04-24 10:29:45 [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 10:29:45 [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 10:29:45 [debug] Moves scheduled 5346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 119, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:45 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16343, writes 0 timeouts 0
2025-04-24 10:29:45 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36303/37173
2025-04-24 10:29:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8647, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:45 [info] currentZPosition:0.0513
2025-04-24 10:29:47 [debug] Stopped at height 0.050 mm
2025-04-24 10:29:47 [debug] Diagnostics for board 50:
2025-04-24 10:29:47 [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 10:29:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:52 ago, cause: software
2025-04-24 10:29:47 [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 10:29:47 [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 10:29:47 [debug] Moves scheduled 5350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17857
Sync err accum 118, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:47 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17541, writes 0 timeouts 0
2025-04-24 10:29:47 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35934/37175
2025-04-24 10:29:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8688, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:47 [info] currentZPosition:0.0505
2025-04-24 10:29:48 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:48 [debug] Diagnostics for board 50:
2025-04-24 10:29:48 [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 10:29:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:53 ago, cause: software
2025-04-24 10:29:48 [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 10:29:48 [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 10:29:48 [debug] Moves scheduled 5354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6818, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:48 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16594, writes 0 timeouts 0
2025-04-24 10:29:48 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36404/37170
2025-04-24 10:29:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8682, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:48 [info] currentZPosition:0.0506
2025-04-24 10:29:50 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:50 [debug] Diagnostics for board 50:
2025-04-24 10:29:50 [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 10:29:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:54 ago, cause: software
2025-04-24 10:29:50 [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 10:29:50 [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 10:29:50 [debug] Moves scheduled 5358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=110, frequency (Hz): min=6250, max=17045
Sync err accum 107, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:29:50 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16960, writes 0 timeouts 0
2025-04-24 10:29:50 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35834/37175
2025-04-24 10:29:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:50 [info] currentZPosition:0.0517
2025-04-24 10:29:51 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:51 [debug] Diagnostics for board 50:
2025-04-24 10:29:51 [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 10:29:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:56 ago, cause: software
2025-04-24 10:29:51 [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 10:29:51 [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 10:29:51 [debug] Moves scheduled 5362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 97, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294926253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:51 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16975, writes 0 timeouts 0
2025-04-24 10:29:51 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35693/37177
2025-04-24 10:29:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8670, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:51 [info] currentZPosition:0.0509
2025-04-24 10:29:52 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:52 [debug] Diagnostics for board 50:
2025-04-24 10:29:52 [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 10:29:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:57 ago, cause: software
2025-04-24 10:29:52 [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 10:29:52 [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 10:29:52 [debug] Moves scheduled 5366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 87, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:52 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16896, writes 0 timeouts 0
2025-04-24 10:29:52 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35736/37174
2025-04-24 10:29:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8608, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:52 [info] currentZPosition:0.0521
2025-04-24 10:29:54 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:54 [debug] Diagnostics for board 50:
2025-04-24 10:29:54 [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 10:29:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:31:58 ago, cause: software
2025-04-24 10:29:54 [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 10:29:54 [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 10:29:54 [debug] Moves scheduled 5370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 73, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:29:54 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16953, writes 0 timeouts 0
2025-04-24 10:29:54 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35742/37177
2025-04-24 10:29:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:54 [info] currentZPosition:0.0509
2025-04-24 10:29:55 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:55 [debug] Diagnostics for board 50:
2025-04-24 10:29:55 [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 10:29:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:00 ago, cause: software
2025-04-24 10:29:55 [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 10:29:55 [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 10:29:55 [debug] Moves scheduled 5374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=503, max=17857
Sync err accum 62, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:55 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16871, writes 11 timeouts 1
2025-04-24 10:29:55 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36379/37178
2025-04-24 10:29:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:55 [info] currentZPosition:0.0521
2025-04-24 10:29:56 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:56 [debug] Diagnostics for board 50:
2025-04-24 10:29:56 [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 10:29:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:01 ago, cause: software
2025-04-24 10:29:56 [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 10:29:56 [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 10:29:56 [debug] Moves scheduled 5378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:29:56 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16866, writes 0 timeouts 0
2025-04-24 10:29:56 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35691/37171
2025-04-24 10:29:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:56 [info] currentZPosition:0.0515
2025-04-24 10:29:58 [debug] Stopped at height 0.051 mm
2025-04-24 10:29:58 [debug] Diagnostics for board 50:
2025-04-24 10:29:58 [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 10:29:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:02 ago, cause: software
2025-04-24 10:29:58 [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 10:29:58 [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 10:29:58 [debug] Moves scheduled 5382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:58 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17395, writes 0 timeouts 0
2025-04-24 10:29:58 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36306/37175
2025-04-24 10:29:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8668, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:58 [info] currentZPosition:0.0509
2025-04-24 10:29:59 [debug] Stopped at height 0.052 mm
2025-04-24 10:29:59 [debug] Diagnostics for board 50:
2025-04-24 10:29:59 [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 10:29:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:04 ago, cause: software
2025-04-24 10:29:59 [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 10:29:59 [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 10:29:59 [debug] Moves scheduled 5386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6521, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:29:59 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16395, writes 0 timeouts 0
2025-04-24 10:29:59 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36375/37169
2025-04-24 10:29:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8633, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:29:59 [info] currentZPosition:0.0517
2025-04-24 10:30:00 [debug] Stopped at height 0.050 mm
2025-04-24 10:30:00 [debug] Diagnostics for board 50:
2025-04-24 10:30:00 [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 10:30:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:05 ago, cause: software
2025-04-24 10:30:00 [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 10:30:00 [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 10:30:00 [debug] Moves scheduled 5390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:00 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17704, writes 0 timeouts 0
2025-04-24 10:30:00 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36205/37174
2025-04-24 10:30:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:00 [info] currentZPosition:0.0504
2025-04-24 10:30:01 [debug] Stopped at height 0.050 mm
2025-04-24 10:30:02 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:02 [debug] Diagnostics for board 50:
2025-04-24 10:30:02 [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 10:30:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:32:07 ago, cause: software
2025-04-24 10:30:02 [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 10:30:02 [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 10:30:02 [debug] Moves scheduled 5396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6818, max=17045
Sync err accum 98, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:02 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 19915, writes 0 timeouts 0
2025-04-24 10:30:02 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 37148/37175
2025-04-24 10:30:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8614, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:02 [info] currentZPosition:0.0522
2025-04-24 10:30:02 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:04 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:04 [debug] Diagnostics for board 50:
2025-04-24 10:30:04 [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 10:30:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:09 ago, cause: software
2025-04-24 10:30:04 [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 10:30:04 [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 10:30:04 [debug] Moves scheduled 5402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:04 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 21270, writes 0 timeouts 0
2025-04-24 10:30:04 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37177
2025-04-24 10:30:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8638, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:04 [info] currentZPosition:0.0518
2025-04-24 10:30:05 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:05 [debug] Diagnostics for board 50:
2025-04-24 10:30:05 [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 10:30:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:10 ago, cause: software
2025-04-24 10:30:05 [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 10:30:05 [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 10:30:05 [debug] Moves scheduled 5406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 97, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:05 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17000, writes 0 timeouts 0
2025-04-24 10:30:05 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 35725/37177
2025-04-24 10:30:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:05 [info] currentZPosition:0.0506
2025-04-24 10:30:06 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:06 [debug] Diagnostics for board 50:
2025-04-24 10:30:06 [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 10:30:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:11 ago, cause: software
2025-04-24 10:30:06 [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 10:30:06 [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 10:30:06 [debug] Moves scheduled 5410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6818, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294928386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:06 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16991, writes 0 timeouts 0
2025-04-24 10:30:06 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36028/37176
2025-04-24 10:30:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8645, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:06 [info] currentZPosition:0.0517
2025-04-24 10:30:08 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:08 [debug] Diagnostics for board 50:
2025-04-24 10:30:08 [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 10:30:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:13 ago, cause: software
2025-04-24 10:30:08 [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 10:30:08 [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 10:30:08 [debug] Moves scheduled 5414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=517, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:08 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16313, writes 11 timeouts 1
2025-04-24 10:30:08 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35800/37176
2025-04-24 10:30:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8605, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:08 [info] currentZPosition:0.0525
2025-04-24 10:30:09 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:09 [debug] Diagnostics for board 50:
2025-04-24 10:30:09 [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 10:30:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:14 ago, cause: software
2025-04-24 10:30:09 [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 10:30:09 [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 10:30:09 [debug] Moves scheduled 5418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6302, max=17045
Sync err accum 79, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:09 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17563, writes 0 timeouts 0
2025-04-24 10:30:09 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35927/37179
2025-04-24 10:30:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8654, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:09 [info] currentZPosition:0.0516
2025-04-24 10:30:10 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:10 [debug] Diagnostics for board 50:
2025-04-24 10:30:10 [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 10:30:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:15 ago, cause: software
2025-04-24 10:30:10 [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 10:30:10 [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 10:30:10 [debug] Moves scheduled 5422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:30:10 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16859, writes 0 timeouts 0
2025-04-24 10:30:10 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35840/37178
2025-04-24 10:30:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:11 [info] currentZPosition:0.0507
2025-04-24 10:30:12 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:12 [debug] Diagnostics for board 50:
2025-04-24 10:30:12 [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 10:30:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:17 ago, cause: software
2025-04-24 10:30:12 [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 10:30:12 [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 10:30:12 [debug] Moves scheduled 5426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17045
Sync err accum 69, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:12 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17136, writes 0 timeouts 0
2025-04-24 10:30:12 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35825/37177
2025-04-24 10:30:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8668, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:12 [info] currentZPosition:0.0513
2025-04-24 10:30:13 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:13 [debug] Diagnostics for board 50:
2025-04-24 10:30:13 [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 10:30:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:18 ago, cause: software
2025-04-24 10:30:13 [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 10:30:13 [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 10:30:13 [debug] Moves scheduled 5430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:13 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16779, writes 0 timeouts 0
2025-04-24 10:30:13 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35888/37171
2025-04-24 10:30:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:13 [info] currentZPosition:0.0507
2025-04-24 10:30:15 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:15 [debug] Diagnostics for board 50:
2025-04-24 10:30:15 [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 10:30:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:19 ago, cause: software
2025-04-24 10:30:15 [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 10:30:15 [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 10:30:15 [debug] Moves scheduled 5434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 96, peak jitter 1/3, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:15 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16957, writes 0 timeouts 0
2025-04-24 10:30:15 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35757/37173
2025-04-24 10:30:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:15 [info] currentZPosition:0.0518
2025-04-24 10:30:16 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:16 [debug] Diagnostics for board 50:
2025-04-24 10:30:16 [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 10:30:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:21 ago, cause: software
2025-04-24 10:30:16 [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 10:30:16 [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 10:30:16 [debug] Moves scheduled 5438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:16 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16515, writes 0 timeouts 0
2025-04-24 10:30:16 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35961/37174
2025-04-24 10:30:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:16 [info] currentZPosition:0.0521
2025-04-24 10:30:17 [debug] Stopped at height 0.050 mm
2025-04-24 10:30:17 [debug] Diagnostics for board 50:
2025-04-24 10:30:17 [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 10:30:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:22 ago, cause: software
2025-04-24 10:30:17 [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 10:30:17 [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 10:30:17 [debug] Moves scheduled 5442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17441
Sync err accum 113, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:17 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17887, writes 0 timeouts 0
2025-04-24 10:30:17 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 37152/37177
2025-04-24 10:30:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:17 [info] currentZPosition:0.0502
2025-04-24 10:30:18 [debug] Stopped at height 0.050 mm
2025-04-24 10:30:19 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:19 [debug] Diagnostics for board 50:
2025-04-24 10:30:19 [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 10:30:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:24 ago, cause: software
2025-04-24 10:30:19 [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 10:30:19 [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 10:30:19 [debug] Moves scheduled 5448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6355, max=17045
Sync err accum 116, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:30:19 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 19970, writes 0 timeouts 0
2025-04-24 10:30:19 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36031/37177
2025-04-24 10:30:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8637, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:19 [info] currentZPosition:0.0519
2025-04-24 10:30:19 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:21 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:21 [debug] Diagnostics for board 50:
2025-04-24 10:30:21 [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 10:30:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:25 ago, cause: software
2025-04-24 10:30:21 [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 10:30:21 [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 10:30:21 [debug] Moves scheduled 5454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 116, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:21 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 21487, writes 0 timeouts 0
2025-04-24 10:30:21 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36335/37178
2025-04-24 10:30:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:21 [info] currentZPosition:0.0507
2025-04-24 10:30:22 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:22 [debug] Diagnostics for board 50:
2025-04-24 10:30:22 [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 10:30:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:27 ago, cause: software
2025-04-24 10:30:22 [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 10:30:22 [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 10:30:22 [debug] Moves scheduled 5458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 115, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:22 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16100, writes 0 timeouts 0
2025-04-24 10:30:22 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36079/37174
2025-04-24 10:30:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8626, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:22 [info] currentZPosition:0.0524
2025-04-24 10:30:22 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:24 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:24 [debug] Diagnostics for board 50:
2025-04-24 10:30:24 [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 10:30:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:28 ago, cause: software
2025-04-24 10:30:24 [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 10:30:24 [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 10:30:24 [debug] Moves scheduled 5464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
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 4294936660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:24 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 21481, writes 0 timeouts 0
2025-04-24 10:30:24 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36242/37175
2025-04-24 10:30:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8675, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:24 [info] currentZPosition:0.0514
2025-04-24 10:30:25 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:25 [debug] Diagnostics for board 50:
2025-04-24 10:30:25 [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 10:30:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:30 ago, cause: software
2025-04-24 10:30:25 [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 10:30:25 [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 10:30:25 [debug] Moves scheduled 5468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 102, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:30:25 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16583, writes 0 timeouts 0
2025-04-24 10:30:25 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36150/37177
2025-04-24 10:30:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:25 [info] currentZPosition:0.0514
2025-04-24 10:30:26 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:26 [debug] Diagnostics for board 50:
2025-04-24 10:30:26 [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 10:30:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:31 ago, cause: software
2025-04-24 10:30:26 [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 10:30:26 [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 10:30:26 [debug] Moves scheduled 5472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 91, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:26 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16857, writes 0 timeouts 0
2025-04-24 10:30:26 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37176
2025-04-24 10:30:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8607, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:26 [info] currentZPosition:0.0528
2025-04-24 10:30:27 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:28 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:28 [debug] Diagnostics for board 50:
2025-04-24 10:30:28 [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 10:30:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:33 ago, cause: software
2025-04-24 10:30:28 [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 10:30:28 [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 10:30:28 [debug] Moves scheduled 5478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 76, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:28 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20730, writes 0 timeouts 0
2025-04-24 10:30:28 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37178
2025-04-24 10:30:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:28 [info] currentZPosition:0.0519
2025-04-24 10:30:29 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:29 [debug] Diagnostics for board 50:
2025-04-24 10:30:29 [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 10:30:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:34 ago, cause: software
2025-04-24 10:30:29 [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 10:30:29 [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 10:30:29 [debug] Moves scheduled 5482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 61, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:29 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17020, writes 0 timeouts 0
2025-04-24 10:30:29 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36085/37178
2025-04-24 10:30:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8623, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:29 [info] currentZPosition:0.0527
2025-04-24 10:30:31 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:31 [debug] Diagnostics for board 50:
2025-04-24 10:30:31 [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 10:30:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:35 ago, cause: software
2025-04-24 10:30:31 [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 10:30:31 [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 10:30:31 [debug] Moves scheduled 5486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17441
Sync err accum 65, peak jitter -2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294930021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:31 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16527, writes 0 timeouts 0
2025-04-24 10:30:31 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36223/37178
2025-04-24 10:30:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8604, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:31 [info] currentZPosition:0.0531
2025-04-24 10:30:32 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:32 [debug] Diagnostics for board 50:
2025-04-24 10:30:32 [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 10:30:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:37 ago, cause: software
2025-04-24 10:30:32 [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 10:30:32 [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 10:30:32 [debug] Moves scheduled 5490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:32 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17697, writes 0 timeouts 0
2025-04-24 10:30:32 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36009/37173
2025-04-24 10:30:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8680, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:32 [info] currentZPosition:0.0516
2025-04-24 10:30:33 [debug] Stopped at height 0.050 mm
2025-04-24 10:30:34 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:34 [debug] Diagnostics for board 50:
2025-04-24 10:30:34 [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 10:30:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:39 ago, cause: software
2025-04-24 10:30:34 [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 10:30:34 [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 10:30:34 [debug] Moves scheduled 5496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 88, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:34 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20559, writes 0 timeouts 0
2025-04-24 10:30:34 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36287/37172
2025-04-24 10:30:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8638, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:34 [info] currentZPosition:0.0524
2025-04-24 10:30:34 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:35 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:35 [debug] Diagnostics for board 50:
2025-04-24 10:30:35 [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 10:30:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:40 ago, cause: software
2025-04-24 10:30:35 [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 10:30:35 [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 10:30:35 [debug] Moves scheduled 5502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 98, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:35 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20834, writes 0 timeouts 0
2025-04-24 10:30:35 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35912/37175
2025-04-24 10:30:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8596, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:35 [info] currentZPosition:0.0534
2025-04-24 10:30:36 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:37 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:37 [debug] Diagnostics for board 50:
2025-04-24 10:30:37 [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 10:30:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:42 ago, cause: software
2025-04-24 10:30:37 [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 10:30:37 [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 10:30:37 [debug] Moves scheduled 5508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 101, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:37 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 21154, writes 0 timeouts 0
2025-04-24 10:30:37 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36353/37174
2025-04-24 10:30:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:37 [info] currentZPosition:0.0514
2025-04-24 10:30:37 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:39 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:39 [debug] Diagnostics for board 50:
2025-04-24 10:30:39 [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 10:30:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:44 ago, cause: software
2025-04-24 10:30:39 [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 10:30:39 [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 10:30:39 [debug] Moves scheduled 5514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6250, max=17045
Sync err accum 103, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:30:39 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 20874, writes 0 timeouts 0
2025-04-24 10:30:39 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35859/37176
2025-04-24 10:30:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8656, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:39 [info] currentZPosition:0.0524
2025-04-24 10:30:40 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:40 [debug] Diagnostics for board 50:
2025-04-24 10:30:40 [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 10:30:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:45 ago, cause: software
2025-04-24 10:30:40 [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 10:30:40 [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 10:30:40 [debug] Moves scheduled 5518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 101, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:30:40 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16686, writes 0 timeouts 0
2025-04-24 10:30:40 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36385/37176
2025-04-24 10:30:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:40 [info] currentZPosition:0.0523
2025-04-24 10:30:41 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:41 [debug] Diagnostics for board 50:
2025-04-24 10:30:41 [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 10:30:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:46 ago, cause: software
2025-04-24 10:30:41 [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 10:30:41 [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 10:30:41 [debug] Moves scheduled 5522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 99, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:41 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17104, writes 0 timeouts 0
2025-04-24 10:30:41 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35779/37177
2025-04-24 10:30:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8633, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:42 [info] currentZPosition:0.0528
2025-04-24 10:30:43 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:43 [debug] Diagnostics for board 50:
2025-04-24 10:30:43 [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 10:30:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:48 ago, cause: software
2025-04-24 10:30:43 [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 10:30:43 [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 10:30:43 [debug] Moves scheduled 5526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:43 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16721, writes 0 timeouts 0
2025-04-24 10:30:43 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35712/37176
2025-04-24 10:30:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8651, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:43 [info] currentZPosition:0.0525
2025-04-24 10:30:44 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:44 [debug] Diagnostics for board 50:
2025-04-24 10:30:44 [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 10:30:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:32:49 ago, cause: software
2025-04-24 10:30:44 [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 10:30:44 [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 10:30:44 [debug] Moves scheduled 5530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=18292
Sync err accum 87, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:44 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17111, writes 0 timeouts 0
2025-04-24 10:30:44 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35710/37180
2025-04-24 10:30:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8630, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:44 [info] currentZPosition:0.0529
2025-04-24 10:30:46 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:46 [debug] Diagnostics for board 50:
2025-04-24 10:30:46 [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 10:30:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:50 ago, cause: software
2025-04-24 10:30:46 [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 10:30:46 [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 10:30:46 [debug] Moves scheduled 5534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6048, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:46 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16775, writes 0 timeouts 0
2025-04-24 10:30:46 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35718/37179
2025-04-24 10:30:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:46 [info] currentZPosition:0.0523
2025-04-24 10:30:47 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:47 [debug] Diagnostics for board 50:
2025-04-24 10:30:47 [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 10:30:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:52 ago, cause: software
2025-04-24 10:30:47 [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 10:30:47 [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 10:30:47 [debug] Moves scheduled 5538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
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 4294934824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:47 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17357, writes 0 timeouts 0
2025-04-24 10:30:47 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36379/37177
2025-04-24 10:30:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:47 [info] currentZPosition:0.0519
2025-04-24 10:30:48 [debug] Stopped at height 0.053 mm
2025-04-24 10:30:48 [debug] Diagnostics for board 50:
2025-04-24 10:30:48 [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 10:30:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:53 ago, cause: software
2025-04-24 10:30:48 [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 10:30:48 [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 10:30:48 [debug] Moves scheduled 5542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:48 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16249, writes 0 timeouts 0
2025-04-24 10:30:48 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35799/37176
2025-04-24 10:30:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8626, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:48 [info] currentZPosition:0.0530
2025-04-24 10:30:50 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:50 [debug] Diagnostics for board 50:
2025-04-24 10:30:50 [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 10:30:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:54 ago, cause: software
2025-04-24 10:30:50 [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 10:30:50 [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 10:30:50 [debug] Moves scheduled 5546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 78, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:30:50 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17594, writes 0 timeouts 0
2025-04-24 10:30:50 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36291/37172
2025-04-24 10:30:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:50 [info] currentZPosition:0.0519
2025-04-24 10:30:51 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:51 [debug] Diagnostics for board 50:
2025-04-24 10:30:51 [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 10:30:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:56 ago, cause: software
2025-04-24 10:30:51 [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 10:30:51 [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 10:30:51 [debug] Moves scheduled 5550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17441
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 4294932402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:51 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16398, writes 0 timeouts 0
2025-04-24 10:30:51 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35943/37174
2025-04-24 10:30:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8649, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:51 [info] currentZPosition:0.0525
2025-04-24 10:30:52 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:52 [debug] Diagnostics for board 50:
2025-04-24 10:30:52 [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 10:30:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:57 ago, cause: software
2025-04-24 10:30:52 [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 10:30:52 [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 10:30:52 [debug] Moves scheduled 5554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 98, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:30:52 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17287, writes 0 timeouts 0
2025-04-24 10:30:52 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36255/37174
2025-04-24 10:30:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8669, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:52 [info] currentZPosition:0.0522
2025-04-24 10:30:54 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:54 [debug] Diagnostics for board 50:
2025-04-24 10:30:54 [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 10:30:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:32:58 ago, cause: software
2025-04-24 10:30:54 [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 10:30:54 [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 10:30:54 [debug] Moves scheduled 5558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 104, peak jitter 1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:54 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16939, writes 0 timeouts 0
2025-04-24 10:30:54 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36125/37171
2025-04-24 10:30:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:54 [info] currentZPosition:0.0511
2025-04-24 10:30:55 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:55 [debug] Diagnostics for board 50:
2025-04-24 10:30:55 [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 10:30:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:00 ago, cause: software
2025-04-24 10:30:55 [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 10:30:55 [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 10:30:55 [debug] Moves scheduled 5562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 109, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:55 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16821, writes 0 timeouts 0
2025-04-24 10:30:55 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36181/37175
2025-04-24 10:30:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8655, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:55 [info] currentZPosition:0.0525
2025-04-24 10:30:55 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:57 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:57 [debug] Diagnostics for board 50:
2025-04-24 10:30:57 [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 10:30:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:01 ago, cause: software
2025-04-24 10:30:57 [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 10:30:57 [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 10:30:57 [debug] Moves scheduled 5568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=18292
Sync err accum 112, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:30:57 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20564, writes 0 timeouts 0
2025-04-24 10:30:57 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36184/37179
2025-04-24 10:30:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8662, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:57 [info] currentZPosition:0.0525
2025-04-24 10:30:57 [debug] Stopped at height 0.052 mm
2025-04-24 10:30:58 [debug] Stopped at height 0.051 mm
2025-04-24 10:30:58 [debug] Diagnostics for board 50:
2025-04-24 10:30:58 [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 10:30:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:03 ago, cause: software
2025-04-24 10:30:58 [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 10:30:58 [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 10:30:58 [debug] Moves scheduled 5574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:30:58 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21542, writes 0 timeouts 0
2025-04-24 10:30:58 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37178
2025-04-24 10:30:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:30:58 [info] currentZPosition:0.0511
2025-04-24 10:31:00 [debug] Stopped at height 0.051 mm
2025-04-24 10:31:00 [debug] Diagnostics for board 50:
2025-04-24 10:31:00 [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 10:31:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:04 ago, cause: software
2025-04-24 10:31:00 [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 10:31:00 [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 10:31:00 [debug] Moves scheduled 5578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:00 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16679, writes 0 timeouts 0
2025-04-24 10:31:00 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36207/37174
2025-04-24 10:31:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:00 [info] currentZPosition:0.0510
2025-04-24 10:31:01 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:01 [debug] Diagnostics for board 50:
2025-04-24 10:31:01 [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 10:31:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:06 ago, cause: software
2025-04-24 10:31:01 [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 10:31:01 [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 10:31:01 [debug] Moves scheduled 5582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:01 [debug] Driver 0: pos -3417, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16322, writes 0 timeouts 0
2025-04-24 10:31:01 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36034/37175
2025-04-24 10:31:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8588, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:01 [info] currentZPosition:0.0540
2025-04-24 10:31:01 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:03 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:03 [debug] Diagnostics for board 50:
2025-04-24 10:31:03 [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 10:31:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:08 ago, cause: software
2025-04-24 10:31:03 [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 10:31:03 [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 10:31:03 [debug] Moves scheduled 5588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:03 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 21236, writes 0 timeouts 0
2025-04-24 10:31:03 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36238/37176
2025-04-24 10:31:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:03 [info] currentZPosition:0.0523
2025-04-24 10:31:04 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:04 [debug] Diagnostics for board 50:
2025-04-24 10:31:04 [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 10:31:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:09 ago, cause: software
2025-04-24 10:31:04 [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 10:31:04 [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 10:31:04 [debug] Moves scheduled 5592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:04 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17403, writes 0 timeouts 0
2025-04-24 10:31:04 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35981/37178
2025-04-24 10:31:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:04 [info] currentZPosition:0.0518
2025-04-24 10:31:05 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:05 [debug] Diagnostics for board 50:
2025-04-24 10:31:05 [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 10:31:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:10 ago, cause: software
2025-04-24 10:31:05 [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 10:31:05 [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 10:31:05 [debug] Moves scheduled 5596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6355, max=17045
Sync err accum 66, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:05 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16301, writes 0 timeouts 0
2025-04-24 10:31:05 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36286/37178
2025-04-24 10:31:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8653, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:05 [info] currentZPosition:0.0528
2025-04-24 10:31:07 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:07 [debug] Diagnostics for board 50:
2025-04-24 10:31:07 [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 10:31:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:12 ago, cause: software
2025-04-24 10:31:07 [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 10:31:07 [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 10:31:07 [debug] Moves scheduled 5600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6147, max=17045
Sync err accum 65, peak jitter -4/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:07 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17272, writes 0 timeouts 0
2025-04-24 10:31:07 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35909/37179
2025-04-24 10:31:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8656, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:07 [info] currentZPosition:0.0528
2025-04-24 10:31:08 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:08 [debug] Diagnostics for board 50:
2025-04-24 10:31:08 [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 10:31:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:13 ago, cause: software
2025-04-24 10:31:08 [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 10:31:08 [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 10:31:08 [debug] Moves scheduled 5604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 74, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:08 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16667, writes 0 timeouts 0
2025-04-24 10:31:08 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36314/37174
2025-04-24 10:31:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8664, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:08 [info] currentZPosition:0.0527
2025-04-24 10:31:09 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:09 [debug] Diagnostics for board 50:
2025-04-24 10:31:09 [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 10:31:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:14 ago, cause: software
2025-04-24 10:31:09 [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 10:31:09 [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 10:31:09 [debug] Moves scheduled 5608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:09 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17138, writes 0 timeouts 0
2025-04-24 10:31:09 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35857/37173
2025-04-24 10:31:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8651, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:10 [info] currentZPosition:0.0529
2025-04-24 10:31:11 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:11 [debug] Diagnostics for board 50:
2025-04-24 10:31:11 [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 10:31:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:16 ago, cause: software
2025-04-24 10:31:11 [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 10:31:11 [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 10:31:11 [debug] Moves scheduled 5612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 94, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:11 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16981, writes 0 timeouts 0
2025-04-24 10:31:11 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37176
2025-04-24 10:31:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:11 [info] currentZPosition:0.0517
2025-04-24 10:31:12 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:12 [debug] Diagnostics for board 50:
2025-04-24 10:31:12 [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 10:31:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:17 ago, cause: software
2025-04-24 10:31:12 [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 10:31:12 [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 10:31:12 [debug] Moves scheduled 5616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 99, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:12 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17084, writes 0 timeouts 0
2025-04-24 10:31:12 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35784/37172
2025-04-24 10:31:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8677, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:12 [info] currentZPosition:0.0524
2025-04-24 10:31:14 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:14 [debug] Diagnostics for board 50:
2025-04-24 10:31:14 [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 10:31:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:18 ago, cause: software
2025-04-24 10:31:14 [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 10:31:14 [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 10:31:14 [debug] Moves scheduled 5620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6147, max=18292
Sync err accum 101, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:14 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16651, writes 0 timeouts 0
2025-04-24 10:31:14 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35682/37176
2025-04-24 10:31:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:14 [info] currentZPosition:0.0521
2025-04-24 10:31:15 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:15 [debug] Diagnostics for board 50:
2025-04-24 10:31:15 [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 10:31:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:20 ago, cause: software
2025-04-24 10:31:15 [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 10:31:15 [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 10:31:15 [debug] Moves scheduled 5624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6521, max=17045
Sync err accum 103, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:15 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16885, writes 0 timeouts 0
2025-04-24 10:31:15 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35731/37175
2025-04-24 10:31:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8638, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:15 [info] currentZPosition:0.0532
2025-04-24 10:31:16 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:16 [debug] Diagnostics for board 50:
2025-04-24 10:31:16 [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 10:31:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:21 ago, cause: software
2025-04-24 10:31:16 [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 10:31:16 [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 10:31:16 [debug] Moves scheduled 5628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 103, peak jitter 0/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:16 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17011, writes 0 timeouts 0
2025-04-24 10:31:16 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35727/37175
2025-04-24 10:31:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:16 [info] currentZPosition:0.0520
2025-04-24 10:31:18 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:18 [debug] Diagnostics for board 50:
2025-04-24 10:31:18 [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 10:31:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:22 ago, cause: software
2025-04-24 10:31:18 [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 10:31:18 [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 10:31:18 [debug] Moves scheduled 5632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 101, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:18 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17047, writes 0 timeouts 0
2025-04-24 10:31:18 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35671/37174
2025-04-24 10:31:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:18 [info] currentZPosition:0.0523
2025-04-24 10:31:19 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:19 [debug] Diagnostics for board 50:
2025-04-24 10:31:19 [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 10:31:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:33:24 ago, cause: software
2025-04-24 10:31:19 [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 10:31:19 [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 10:31:19 [debug] Moves scheduled 5636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 95, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:19 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16539, writes 0 timeouts 0
2025-04-24 10:31:19 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35729/37177
2025-04-24 10:31:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:19 [info] currentZPosition:0.0525
2025-04-24 10:31:20 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:20 [debug] Diagnostics for board 50:
2025-04-24 10:31:20 [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 10:31:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:25 ago, cause: software
2025-04-24 10:31:20 [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 10:31:20 [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 10:31:20 [debug] Moves scheduled 5640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=62, frequency (Hz): min=6302, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:20 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17160, writes 0 timeouts 0
2025-04-24 10:31:20 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36348/37175
2025-04-24 10:31:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8653, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:20 [info] currentZPosition:0.0528
2025-04-24 10:31:22 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:22 [debug] Diagnostics for board 50:
2025-04-24 10:31:22 [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 10:31:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:26 ago, cause: software
2025-04-24 10:31:22 [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 10:31:22 [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 10:31:22 [debug] Moves scheduled 5644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 76, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:22 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16428, writes 0 timeouts 0
2025-04-24 10:31:22 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35750/37173
2025-04-24 10:31:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8633, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:22 [info] currentZPosition:0.0533
2025-04-24 10:31:23 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:23 [debug] Diagnostics for board 50:
2025-04-24 10:31:23 [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 10:31:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:28 ago, cause: software
2025-04-24 10:31:23 [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 10:31:23 [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 10:31:23 [debug] Moves scheduled 5648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 61, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:23 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17272, writes 0 timeouts 0
2025-04-24 10:31:23 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36304/37177
2025-04-24 10:31:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8648, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:23 [info] currentZPosition:0.0530
2025-04-24 10:31:24 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:24 [debug] Diagnostics for board 50:
2025-04-24 10:31:24 [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 10:31:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:33:29 ago, cause: software
2025-04-24 10:31:24 [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 10:31:24 [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 10:31:24 [debug] Moves scheduled 5652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 65, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:24 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16407, writes 0 timeouts 0
2025-04-24 10:31:24 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35797/37177
2025-04-24 10:31:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:24 [info] currentZPosition:0.0537
2025-04-24 10:31:26 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:26 [debug] Diagnostics for board 50:
2025-04-24 10:31:26 [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 10:31:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:31 ago, cause: software
2025-04-24 10:31:26 [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 10:31:26 [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 10:31:26 [debug] Moves scheduled 5656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 79, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:26 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17644, writes 0 timeouts 0
2025-04-24 10:31:26 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36260/37169
2025-04-24 10:31:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:26 [info] currentZPosition:0.0524
2025-04-24 10:31:26 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:27 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:27 [debug] Diagnostics for board 50:
2025-04-24 10:31:27 [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 10:31:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:32 ago, cause: software
2025-04-24 10:31:27 [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 10:31:27 [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 10:31:27 [debug] Moves scheduled 5662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:27 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20243, writes 0 timeouts 0
2025-04-24 10:31:27 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 35839/37175
2025-04-24 10:31:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:27 [info] currentZPosition:0.0536
2025-04-24 10:31:28 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:29 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:29 [debug] Diagnostics for board 50:
2025-04-24 10:31:29 [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 10:31:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:34 ago, cause: software
2025-04-24 10:31:29 [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 10:31:29 [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 10:31:29 [debug] Moves scheduled 5668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 101, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:29 [debug] Driver 0: pos -3418, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20913, writes 0 timeouts 0
2025-04-24 10:31:29 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36208/37171
2025-04-24 10:31:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8598, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:29 [info] currentZPosition:0.0544
2025-04-24 10:31:30 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:30 [debug] Diagnostics for board 50:
2025-04-24 10:31:30 [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 10:31:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:35 ago, cause: software
2025-04-24 10:31:30 [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 10:31:30 [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 10:31:30 [debug] Moves scheduled 5672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:30 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17365, writes 0 timeouts 0
2025-04-24 10:31:30 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35893/37172
2025-04-24 10:31:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:31 [info] currentZPosition:0.0521
2025-04-24 10:31:31 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:32 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:32 [debug] Diagnostics for board 50:
2025-04-24 10:31:32 [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 10:31:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:37 ago, cause: software
2025-04-24 10:31:32 [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 10:31:32 [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 10:31:32 [debug] Moves scheduled 5678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 110, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:32 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20513, writes 0 timeouts 0
2025-04-24 10:31:32 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37177
2025-04-24 10:31:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:32 [info] currentZPosition:0.0542
2025-04-24 10:31:32 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:34 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:34 [debug] Diagnostics for board 50:
2025-04-24 10:31:34 [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 10:31:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:39 ago, cause: software
2025-04-24 10:31:34 [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 10:31:34 [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 10:31:34 [debug] Moves scheduled 5684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 109, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:34 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 20810, writes 0 timeouts 0
2025-04-24 10:31:34 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 35890/37174
2025-04-24 10:31:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8645, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:34 [info] currentZPosition:0.0536
2025-04-24 10:31:35 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:35 [debug] Diagnostics for board 50:
2025-04-24 10:31:35 [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 10:31:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:40 ago, cause: software
2025-04-24 10:31:35 [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 10:31:35 [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 10:31:35 [debug] Moves scheduled 5688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17045
Sync err accum 105, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:31:35 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17526, writes 0 timeouts 0
2025-04-24 10:31:35 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36108/37174
2025-04-24 10:31:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:35 [info] currentZPosition:0.0526
2025-04-24 10:31:36 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:36 [debug] Diagnostics for board 50:
2025-04-24 10:31:36 [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 10:31:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:41 ago, cause: software
2025-04-24 10:31:36 [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 10:31:36 [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 10:31:36 [debug] Moves scheduled 5692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 99, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:36 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16270, writes 0 timeouts 0
2025-04-24 10:31:36 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35936/37176
2025-04-24 10:31:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8632, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:37 [info] currentZPosition:0.0539
2025-04-24 10:31:37 [debug] Stopped at height 0.056 mm
2025-04-24 10:31:37 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:38 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:38 [debug] Diagnostics for board 50:
2025-04-24 10:31:38 [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 10:31:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:43 ago, cause: software
2025-04-24 10:31:38 [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 10:31:38 [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 10:31:38 [debug] Moves scheduled 5700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17045
Sync err accum 82, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:31:38 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 25390, writes 0 timeouts 0
2025-04-24 10:31:38 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36057/37178
2025-04-24 10:31:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8669, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:39 [info] currentZPosition:0.0533
2025-04-24 10:31:40 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:40 [debug] Diagnostics for board 50:
2025-04-24 10:31:40 [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 10:31:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:33:45 ago, cause: software
2025-04-24 10:31:40 [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 10:31:40 [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 10:31:40 [debug] Moves scheduled 5704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 70, peak jitter -2/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:31:40 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16544, writes 0 timeouts 0
2025-04-24 10:31:40 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35975/37179
2025-04-24 10:31:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8656, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:40 [info] currentZPosition:0.0536
2025-04-24 10:31:41 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:41 [debug] Diagnostics for board 50:
2025-04-24 10:31:41 [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 10:31:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:46 ago, cause: software
2025-04-24 10:31:41 [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 10:31:41 [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 10:31:41 [debug] Moves scheduled 5708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:41 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17534, writes 0 timeouts 0
2025-04-24 10:31:41 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36005/37175
2025-04-24 10:31:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:41 [info] currentZPosition:0.0526
2025-04-24 10:31:43 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:43 [debug] Diagnostics for board 50:
2025-04-24 10:31:43 [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 10:31:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:47 ago, cause: software
2025-04-24 10:31:43 [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 10:31:43 [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 10:31:43 [debug] Moves scheduled 5712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 71, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:43 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16232, writes 0 timeouts 0
2025-04-24 10:31:43 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35978/37173
2025-04-24 10:31:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8637, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:43 [info] currentZPosition:0.0540
2025-04-24 10:31:43 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:44 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:44 [debug] Diagnostics for board 50:
2025-04-24 10:31:44 [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 10:31:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:49 ago, cause: software
2025-04-24 10:31:44 [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 10:31:44 [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 10:31:44 [debug] Moves scheduled 5718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:44 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21580, writes 0 timeouts 0
2025-04-24 10:31:44 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35948/37173
2025-04-24 10:31:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:44 [info] currentZPosition:0.0521
2025-04-24 10:31:46 [debug] Stopped at height 0.052 mm
2025-04-24 10:31:46 [debug] Diagnostics for board 50:
2025-04-24 10:31:46 [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 10:31:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:50 ago, cause: software
2025-04-24 10:31:46 [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 10:31:46 [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 10:31:46 [debug] Moves scheduled 5722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6521, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:46 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16698, writes 0 timeouts 0
2025-04-24 10:31:46 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35900/37171
2025-04-24 10:31:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:46 [info] currentZPosition:0.0520
2025-04-24 10:31:47 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:47 [debug] Diagnostics for board 50:
2025-04-24 10:31:47 [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 10:31:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:52 ago, cause: software
2025-04-24 10:31:47 [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 10:31:47 [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 10:31:47 [debug] Moves scheduled 5726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:47 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16882, writes 0 timeouts 0
2025-04-24 10:31:47 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35932/37175
2025-04-24 10:31:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:47 [info] currentZPosition:0.0531
2025-04-24 10:31:48 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:48 [debug] Diagnostics for board 50:
2025-04-24 10:31:48 [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 10:31:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:53 ago, cause: software
2025-04-24 10:31:48 [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 10:31:48 [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 10:31:48 [debug] Moves scheduled 5730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:48 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16573, writes 0 timeouts 0
2025-04-24 10:31:48 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35805/37175
2025-04-24 10:31:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8695, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:48 [info] currentZPosition:0.0530
2025-04-24 10:31:50 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:50 [debug] Diagnostics for board 50:
2025-04-24 10:31:50 [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 10:31:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:54 ago, cause: software
2025-04-24 10:31:50 [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 10:31:50 [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 10:31:50 [debug] Moves scheduled 5734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:31:50 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17024, writes 0 timeouts 0
2025-04-24 10:31:50 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 35885/37176
2025-04-24 10:31:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:50 [info] currentZPosition:0.0535
2025-04-24 10:31:51 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:51 [debug] Diagnostics for board 50:
2025-04-24 10:31:51 [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 10:31:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:56 ago, cause: software
2025-04-24 10:31:51 [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 10:31:51 [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 10:31:51 [debug] Moves scheduled 5738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:51 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16305, writes 0 timeouts 0
2025-04-24 10:31:51 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35852/37175
2025-04-24 10:31:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:51 [info] currentZPosition:0.0544
2025-04-24 10:31:52 [debug] Stopped at height 0.054 mm
2025-04-24 10:31:52 [debug] Diagnostics for board 50:
2025-04-24 10:31:52 [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 10:31:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:57 ago, cause: software
2025-04-24 10:31:52 [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 10:31:52 [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 10:31:52 [debug] Moves scheduled 5742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:52 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17404, writes 0 timeouts 0
2025-04-24 10:31:52 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35820/37176
2025-04-24 10:31:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:52 [info] currentZPosition:0.0537
2025-04-24 10:31:54 [debug] Stopped at height 0.051 mm
2025-04-24 10:31:54 [debug] Diagnostics for board 50:
2025-04-24 10:31:54 [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 10:31:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:33:58 ago, cause: software
2025-04-24 10:31:54 [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 10:31:54 [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 10:31:54 [debug] Moves scheduled 5746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6302, max=18292
Sync err accum 67, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:31:54 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17394, writes 0 timeouts 0
2025-04-24 10:31:54 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35857/37177
2025-04-24 10:31:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:54 [info] currentZPosition:0.0513
2025-04-24 10:31:54 [debug] Stopped at height 0.050 mm
2025-04-24 10:31:55 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:55 [debug] Diagnostics for board 50:
2025-04-24 10:31:55 [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 10:31:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:00 ago, cause: software
2025-04-24 10:31:55 [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 10:31:55 [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 10:31:55 [debug] Moves scheduled 5752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 67, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:31:55 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 20685, writes 0 timeouts 0
2025-04-24 10:31:55 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35803/37176
2025-04-24 10:31:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8691, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:55 [info] currentZPosition:0.0532
2025-04-24 10:31:56 [debug] Stopped at height 0.051 mm
2025-04-24 10:31:57 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:57 [debug] Diagnostics for board 50:
2025-04-24 10:31:57 [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 10:31:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:02 ago, cause: software
2025-04-24 10:31:57 [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 10:31:57 [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 10:31:57 [debug] Moves scheduled 5758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17045
Sync err accum 83, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:57 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20510, writes 0 timeouts 0
2025-04-24 10:31:57 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35863/37173
2025-04-24 10:31:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8703, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:57 [info] currentZPosition:0.0531
2025-04-24 10:31:57 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:59 [debug] Stopped at height 0.053 mm
2025-04-24 10:31:59 [debug] Diagnostics for board 50:
2025-04-24 10:31:59 [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 10:31:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:03 ago, cause: software
2025-04-24 10:31:59 [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 10:31:59 [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 10:31:59 [debug] Moves scheduled 5764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 94, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:31:59 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 21061, writes 0 timeouts 0
2025-04-24 10:31:59 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 35759/37176
2025-04-24 10:31:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:31:59 [info] currentZPosition:0.0533
2025-04-24 10:32:00 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:00 [debug] Diagnostics for board 50:
2025-04-24 10:32:00 [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 10:32:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:05 ago, cause: software
2025-04-24 10:32:00 [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 10:32:00 [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 10:32:00 [debug] Moves scheduled 5768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:32:00 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16273, writes 0 timeouts 0
2025-04-24 10:32:00 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35876/37176
2025-04-24 10:32:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8639, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:00 [info] currentZPosition:0.0544
2025-04-24 10:32:01 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:01 [debug] Diagnostics for board 50:
2025-04-24 10:32:01 [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 10:32:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:06 ago, cause: software
2025-04-24 10:32:01 [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 10:32:01 [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 10:32:01 [debug] Moves scheduled 5772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17857
Sync err accum 100, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:01 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17520, writes 0 timeouts 0
2025-04-24 10:32:01 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35735/37174
2025-04-24 10:32:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8690, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:01 [info] currentZPosition:0.0535
2025-04-24 10:32:03 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:03 [debug] Diagnostics for board 50:
2025-04-24 10:32:03 [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 10:32:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:07 ago, cause: software
2025-04-24 10:32:03 [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 10:32:03 [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 10:32:03 [debug] Moves scheduled 5776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6355, max=17857
Sync err accum 102, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:32:03 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16235, writes 0 timeouts 0
2025-04-24 10:32:03 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35950/37175
2025-04-24 10:32:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8619, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:03 [info] currentZPosition:0.0548
2025-04-24 10:32:03 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:04 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:04 [debug] Diagnostics for board 50:
2025-04-24 10:32:04 [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 10:32:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:09 ago, cause: software
2025-04-24 10:32:04 [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 10:32:04 [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 10:32:04 [debug] Moves scheduled 5782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=663, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:04 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 21243, writes 11 timeouts 1
2025-04-24 10:32:04 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35712/37177
2025-04-24 10:32:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8656, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:04 [info] currentZPosition:0.0542
2025-04-24 10:32:06 [debug] Stopped at height 0.052 mm
2025-04-24 10:32:06 [debug] Diagnostics for board 50:
2025-04-24 10:32:06 [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 10:32:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:11 ago, cause: software
2025-04-24 10:32:06 [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 10:32:06 [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 10:32:06 [debug] Moves scheduled 5786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:06 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17154, writes 0 timeouts 0
2025-04-24 10:32:06 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35973/37178
2025-04-24 10:32:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:06 [info] currentZPosition:0.0524
2025-04-24 10:32:06 [debug] Stopped at height 0.051 mm
2025-04-24 10:32:07 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:07 [debug] Diagnostics for board 50:
2025-04-24 10:32:07 [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 10:32:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:12 ago, cause: software
2025-04-24 10:32:07 [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 10:32:07 [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 10:32:07 [debug] Moves scheduled 5792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:07 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20682, writes 0 timeouts 0
2025-04-24 10:32:07 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36411/37178
2025-04-24 10:32:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:07 [info] currentZPosition:0.0540
2025-04-24 10:32:08 [debug] Stopped at height 0.052 mm
2025-04-24 10:32:09 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:09 [debug] Diagnostics for board 50:
2025-04-24 10:32:09 [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 10:32:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:14 ago, cause: software
2025-04-24 10:32:09 [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 10:32:09 [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 10:32:09 [debug] Moves scheduled 5798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:09 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 20362, writes 0 timeouts 0
2025-04-24 10:32:09 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35963/37175
2025-04-24 10:32:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8655, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:09 [info] currentZPosition:0.0544
2025-04-24 10:32:09 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:11 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:11 [debug] Diagnostics for board 50:
2025-04-24 10:32:11 [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 10:32:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:16 ago, cause: software
2025-04-24 10:32:11 [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 10:32:11 [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 10:32:11 [debug] Moves scheduled 5804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5813, max=17045
Sync err accum 63, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:32:11 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20925, writes 0 timeouts 0
2025-04-24 10:32:11 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36371/37180
2025-04-24 10:32:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:11 [info] currentZPosition:0.0550
2025-04-24 10:32:11 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:12 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:12 [debug] Diagnostics for board 50:
2025-04-24 10:32:12 [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 10:32:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:17 ago, cause: software
2025-04-24 10:32:12 [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 10:32:12 [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 10:32:12 [debug] Moves scheduled 5810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 69, peak jitter -1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:12 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 20475, writes 0 timeouts 0
2025-04-24 10:32:12 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 284, adv 35995/37177
2025-04-24 10:32:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8646, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:12 [info] currentZPosition:0.0548
2025-04-24 10:32:14 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:14 [debug] Diagnostics for board 50:
2025-04-24 10:32:14 [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 10:32:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:19 ago, cause: software
2025-04-24 10:32:14 [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 10:32:14 [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 10:32:14 [debug] Moves scheduled 5814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 85, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:32:14 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17424, writes 0 timeouts 0
2025-04-24 10:32:14 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36347/37175
2025-04-24 10:32:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:14 [info] currentZPosition:0.0540
2025-04-24 10:32:15 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:15 [debug] Diagnostics for board 50:
2025-04-24 10:32:15 [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 10:32:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:20 ago, cause: software
2025-04-24 10:32:15 [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 10:32:15 [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 10:32:15 [debug] Moves scheduled 5818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=509, max=17045
Sync err accum 95, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:32:15 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16308, writes 11 timeouts 1
2025-04-24 10:32:15 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36014/37173
2025-04-24 10:32:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8648, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:15 [info] currentZPosition:0.0549
2025-04-24 10:32:16 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:16 [debug] Diagnostics for board 50:
2025-04-24 10:32:16 [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 10:32:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:21 ago, cause: software
2025-04-24 10:32:16 [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 10:32:16 [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 10:32:16 [debug] Moves scheduled 5822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 104, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:16 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17427, writes 0 timeouts 0
2025-04-24 10:32:16 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36325/37173
2025-04-24 10:32:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8682, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:17 [info] currentZPosition:0.0542
2025-04-24 10:32:18 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:18 [debug] Diagnostics for board 50:
2025-04-24 10:32:18 [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 10:32:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:23 ago, cause: software
2025-04-24 10:32:18 [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 10:32:18 [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 10:32:18 [debug] Moves scheduled 5826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 111, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:18 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17052, writes 0 timeouts 0
2025-04-24 10:32:18 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36041/37171
2025-04-24 10:32:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:18 [info] currentZPosition:0.0528
2025-04-24 10:32:18 [debug] Stopped at height 0.052 mm
2025-04-24 10:32:19 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:19 [debug] Diagnostics for board 50:
2025-04-24 10:32:19 [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 10:32:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:24 ago, cause: software
2025-04-24 10:32:19 [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 10:32:19 [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 10:32:19 [debug] Moves scheduled 5832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 116, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:19 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20622, writes 0 timeouts 0
2025-04-24 10:32:19 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36309/37175
2025-04-24 10:32:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8673, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:20 [info] currentZPosition:0.0545
2025-04-24 10:32:20 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:21 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:21 [debug] Diagnostics for board 50:
2025-04-24 10:32:21 [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 10:32:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:26 ago, cause: software
2025-04-24 10:32:21 [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 10:32:21 [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 10:32:21 [debug] Moves scheduled 5838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6818, max=17045
Sync err accum 116, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:21 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20196, writes 0 timeouts 0
2025-04-24 10:32:21 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36071/37176
2025-04-24 10:32:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:21 [info] currentZPosition:0.0555
2025-04-24 10:32:22 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:23 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:23 [debug] Diagnostics for board 50:
2025-04-24 10:32:23 [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 10:32:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:28 ago, cause: software
2025-04-24 10:32:23 [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 10:32:23 [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 10:32:23 [debug] Moves scheduled 5844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 115, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:23 [debug] Driver 0: pos -3419, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20903, writes 0 timeouts 0
2025-04-24 10:32:23 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36286/37177
2025-04-24 10:32:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8603, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:23 [info] currentZPosition:0.0561
2025-04-24 10:32:23 [debug] Stopped at height 0.058 mm
2025-04-24 10:32:23 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:24 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:25 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:25 [debug] Diagnostics for board 50:
2025-04-24 10:32:25 [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 10:32:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:30 ago, cause: software
2025-04-24 10:32:25 [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 10:32:25 [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 10:32:25 [debug] Moves scheduled 5854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6198, max=17045
Sync err accum 107, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:32:25 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 28744, writes 0 timeouts 0
2025-04-24 10:32:25 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 290, adv 36047/37178
2025-04-24 10:32:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8613, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:25 [info] currentZPosition:0.0562
2025-04-24 10:32:25 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:27 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:27 [debug] Diagnostics for board 50:
2025-04-24 10:32:27 [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 10:32:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:32 ago, cause: software
2025-04-24 10:32:27 [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 10:32:27 [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 10:32:27 [debug] Moves scheduled 5860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=18292
Sync err accum 95, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:27 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 22158, writes 0 timeouts 0
2025-04-24 10:32:27 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36256/37177
2025-04-24 10:32:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:27 [info] currentZPosition:0.0528
2025-04-24 10:32:27 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:28 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:28 [debug] Diagnostics for board 50:
2025-04-24 10:32:28 [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 10:32:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:33 ago, cause: software
2025-04-24 10:32:28 [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 10:32:28 [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 10:32:28 [debug] Moves scheduled 5866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 86, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:32:28 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 19256, writes 0 timeouts 0
2025-04-24 10:32:28 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36067/37178
2025-04-24 10:32:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8608, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:28 [info] currentZPosition:0.0565
2025-04-24 10:32:29 [debug] Stopped at height 0.057 mm
2025-04-24 10:32:30 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:30 [debug] Diagnostics for board 50:
2025-04-24 10:32:30 [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 10:32:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:35 ago, cause: software
2025-04-24 10:32:30 [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 10:32:30 [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 10:32:30 [debug] Moves scheduled 5872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:30 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 21091, writes 0 timeouts 0
2025-04-24 10:32:30 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36234/37179
2025-04-24 10:32:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:30 [info] currentZPosition:0.0562
2025-04-24 10:32:31 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:31 [debug] Diagnostics for board 50:
2025-04-24 10:32:31 [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 10:32:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:36 ago, cause: software
2025-04-24 10:32:31 [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 10:32:31 [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 10:32:31 [debug] Moves scheduled 5876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:31 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17084, writes 0 timeouts 0
2025-04-24 10:32:31 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36086/37169
2025-04-24 10:32:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8711, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:32 [info] currentZPosition:0.0545
2025-04-24 10:32:32 [debug] Stopped at height 0.053 mm
2025-04-24 10:32:33 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:33 [debug] Diagnostics for board 50:
2025-04-24 10:32:33 [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 10:32:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:38 ago, cause: software
2025-04-24 10:32:33 [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 10:32:33 [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 10:32:33 [debug] Moves scheduled 5882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 79, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:32:33 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20857, writes 0 timeouts 0
2025-04-24 10:32:33 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36191/37173
2025-04-24 10:32:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:33 [info] currentZPosition:0.0556
2025-04-24 10:32:34 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:35 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:35 [debug] Diagnostics for board 50:
2025-04-24 10:32:35 [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 10:32:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:40 ago, cause: software
2025-04-24 10:32:35 [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 10:32:35 [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 10:32:35 [debug] Moves scheduled 5888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:35 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20527, writes 0 timeouts 0
2025-04-24 10:32:35 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36118/37173
2025-04-24 10:32:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:35 [info] currentZPosition:0.0552
2025-04-24 10:32:36 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:36 [debug] Diagnostics for board 50:
2025-04-24 10:32:36 [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 10:32:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:41 ago, cause: software
2025-04-24 10:32:36 [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 10:32:36 [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 10:32:36 [debug] Moves scheduled 5892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=17857
Sync err accum 104, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:36 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17227, writes 0 timeouts 0
2025-04-24 10:32:36 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36168/37168
2025-04-24 10:32:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8687, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:36 [info] currentZPosition:0.0553
2025-04-24 10:32:37 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:37 [debug] Diagnostics for board 50:
2025-04-24 10:32:37 [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 10:32:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:42 ago, cause: software
2025-04-24 10:32:37 [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 10:32:37 [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 10:32:37 [debug] Moves scheduled 5896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 112, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:37 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16439, writes 0 timeouts 0
2025-04-24 10:32:37 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36090/37174
2025-04-24 10:32:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8664, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:38 [info] currentZPosition:0.0558
2025-04-24 10:32:39 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:39 [debug] Diagnostics for board 50:
2025-04-24 10:32:39 [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 10:32:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:44 ago, cause: software
2025-04-24 10:32:39 [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 10:32:39 [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 10:32:39 [debug] Moves scheduled 5900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 116, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:39 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17419, writes 0 timeouts 0
2025-04-24 10:32:39 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36174/37176
2025-04-24 10:32:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8703, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:39 [info] currentZPosition:0.0551
2025-04-24 10:32:40 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:40 [debug] Diagnostics for board 50:
2025-04-24 10:32:40 [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 10:32:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:45 ago, cause: software
2025-04-24 10:32:40 [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 10:32:40 [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 10:32:40 [debug] Moves scheduled 5904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 119, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:40 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16280, writes 0 timeouts 0
2025-04-24 10:32:40 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36132/37176
2025-04-24 10:32:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8653, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:40 [info] currentZPosition:0.0561
2025-04-24 10:32:42 [debug] Stopped at height 0.055 mm
2025-04-24 10:32:42 [debug] Diagnostics for board 50:
2025-04-24 10:32:42 [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 10:32:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:46 ago, cause: software
2025-04-24 10:32:42 [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 10:32:42 [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 10:32:42 [debug] Moves scheduled 5908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17857
Sync err accum 118, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:42 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17371, writes 0 timeouts 0
2025-04-24 10:32:42 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36157/37167
2025-04-24 10:32:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8678, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:42 [info] currentZPosition:0.0555
2025-04-24 10:32:43 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:43 [debug] Diagnostics for board 50:
2025-04-24 10:32:43 [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 10:32:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:48 ago, cause: software
2025-04-24 10:32:43 [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 10:32:43 [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 10:32:43 [debug] Moves scheduled 5912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6048, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:43 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16439, writes 0 timeouts 0
2025-04-24 10:32:43 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36216/37173
2025-04-24 10:32:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8639, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:43 [info] currentZPosition:0.0563
2025-04-24 10:32:44 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:44 [debug] Diagnostics for board 50:
2025-04-24 10:32:44 [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 10:32:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:49 ago, cause: software
2025-04-24 10:32:44 [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 10:32:44 [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 10:32:44 [debug] Moves scheduled 5916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 105, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:44 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17336, writes 0 timeouts 0
2025-04-24 10:32:44 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36161/37175
2025-04-24 10:32:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8659, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:44 [info] currentZPosition:0.0559
2025-04-24 10:32:46 [debug] Stopped at height 0.057 mm
2025-04-24 10:32:46 [debug] Diagnostics for board 50:
2025-04-24 10:32:46 [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 10:32:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:50 ago, cause: software
2025-04-24 10:32:46 [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 10:32:46 [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 10:32:46 [debug] Moves scheduled 5920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 94, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:46 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16387, writes 0 timeouts 0
2025-04-24 10:32:46 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36406/37177
2025-04-24 10:32:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:46 [info] currentZPosition:0.0566
2025-04-24 10:32:47 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:47 [debug] Diagnostics for board 50:
2025-04-24 10:32:47 [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 10:32:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:34:52 ago, cause: software
2025-04-24 10:32:47 [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 10:32:47 [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 10:32:47 [debug] Moves scheduled 5924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:47 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17912, writes 0 timeouts 0
2025-04-24 10:32:47 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36136/37176
2025-04-24 10:32:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:47 [info] currentZPosition:0.0542
2025-04-24 10:32:47 [debug] Stopped at height 0.054 mm
2025-04-24 10:32:49 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:49 [debug] Diagnostics for board 50:
2025-04-24 10:32:49 [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 10:32:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:53 ago, cause: software
2025-04-24 10:32:49 [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 10:32:49 [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 10:32:49 [debug] Moves scheduled 5930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 66, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:32:49 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 20132, writes 0 timeouts 0
2025-04-24 10:32:49 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 292, adv 36367/37179
2025-04-24 10:32:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8680, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:49 [info] currentZPosition:0.0557
2025-04-24 10:32:49 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:50 [debug] Stopped at height 0.057 mm
2025-04-24 10:32:50 [debug] Diagnostics for board 50:
2025-04-24 10:32:50 [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 10:32:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:55 ago, cause: software
2025-04-24 10:32:50 [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 10:32:50 [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 10:32:50 [debug] Moves scheduled 5936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 69, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:50 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20655, writes 0 timeouts 0
2025-04-24 10:32:50 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36132/37172
2025-04-24 10:32:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:50 [info] currentZPosition:0.0566
2025-04-24 10:32:52 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:52 [debug] Diagnostics for board 50:
2025-04-24 10:32:52 [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 10:32:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:56 ago, cause: software
2025-04-24 10:32:52 [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 10:32:52 [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 10:32:52 [debug] Moves scheduled 5940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 82, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:52 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16993, writes 0 timeouts 0
2025-04-24 10:32:52 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36372/37170
2025-04-24 10:32:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:52 [info] currentZPosition:0.0558
2025-04-24 10:32:53 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:53 [debug] Diagnostics for board 50:
2025-04-24 10:32:53 [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 10:32:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:58 ago, cause: software
2025-04-24 10:32:53 [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 10:32:53 [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 10:32:53 [debug] Moves scheduled 5944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6578, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:32:53 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17173, writes 0 timeouts 0
2025-04-24 10:32:53 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37174
2025-04-24 10:32:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:53 [info] currentZPosition:0.0560
2025-04-24 10:32:54 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:54 [debug] Diagnostics for board 50:
2025-04-24 10:32:54 [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 10:32:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:34:59 ago, cause: software
2025-04-24 10:32:54 [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 10:32:54 [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 10:32:54 [debug] Moves scheduled 5948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5000, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:54 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16687, writes 0 timeouts 0
2025-04-24 10:32:54 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36400/37175
2025-04-24 10:32:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:54 [info] currentZPosition:0.0559
2025-04-24 10:32:56 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:56 [debug] Diagnostics for board 50:
2025-04-24 10:32:56 [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 10:32:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:00 ago, cause: software
2025-04-24 10:32:56 [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 10:32:56 [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 10:32:56 [debug] Moves scheduled 5952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:56 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17024, writes 0 timeouts 0
2025-04-24 10:32:56 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37176
2025-04-24 10:32:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8639, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:56 [info] currentZPosition:0.0565
2025-04-24 10:32:57 [debug] Stopped at height 0.057 mm
2025-04-24 10:32:57 [debug] Diagnostics for board 50:
2025-04-24 10:32:57 [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 10:32:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:02 ago, cause: software
2025-04-24 10:32:57 [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 10:32:57 [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 10:32:57 [debug] Moves scheduled 5956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 112, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:32:57 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16470, writes 0 timeouts 0
2025-04-24 10:32:57 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37176
2025-04-24 10:32:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8624, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:57 [info] currentZPosition:0.0569
2025-04-24 10:32:58 [debug] Stopped at height 0.056 mm
2025-04-24 10:32:58 [debug] Diagnostics for board 50:
2025-04-24 10:32:58 [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 10:32:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:03 ago, cause: software
2025-04-24 10:32:58 [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 10:32:58 [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 10:32:58 [debug] Moves scheduled 5960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6000, max=17045
Sync err accum 112, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:32:58 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17312, writes 0 timeouts 0
2025-04-24 10:32:58 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36108/37174
2025-04-24 10:32:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8645, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:32:58 [info] currentZPosition:0.0564
2025-04-24 10:33:00 [debug] Stopped at height 0.055 mm
2025-04-24 10:33:00 [debug] Diagnostics for board 50:
2025-04-24 10:33:00 [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 10:33:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:05 ago, cause: software
2025-04-24 10:33:00 [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 10:33:00 [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 10:33:00 [debug] Moves scheduled 5964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 111, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294926420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:00 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17123, writes 0 timeouts 0
2025-04-24 10:33:00 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36403/37177
2025-04-24 10:33:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:00 [info] currentZPosition:0.0551
2025-04-24 10:33:00 [debug] Stopped at height 0.054 mm
2025-04-24 10:33:01 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:01 [debug] Diagnostics for board 50:
2025-04-24 10:33:01 [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 10:33:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:06 ago, cause: software
2025-04-24 10:33:01 [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 10:33:01 [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 10:33:01 [debug] Moves scheduled 5970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:01 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 20500, writes 0 timeouts 0
2025-04-24 10:33:01 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 10:33:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8617, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:01 [info] currentZPosition:0.0571
2025-04-24 10:33:02 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:03 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:03 [debug] Diagnostics for board 50:
2025-04-24 10:33:03 [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 10:33:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:08 ago, cause: software
2025-04-24 10:33:03 [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 10:33:03 [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 10:33:03 [debug] Moves scheduled 5976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 97, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:03 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20556, writes 0 timeouts 0
2025-04-24 10:33:03 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37179
2025-04-24 10:33:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8635, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:03 [info] currentZPosition:0.0568
2025-04-24 10:33:04 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:04 [debug] Diagnostics for board 50:
2025-04-24 10:33:04 [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 10:33:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:09 ago, cause: software
2025-04-24 10:33:04 [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 10:33:04 [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 10:33:04 [debug] Moves scheduled 5980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 88, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:04 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17189, writes 0 timeouts 0
2025-04-24 10:33:04 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36114/37175
2025-04-24 10:33:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8633, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:04 [info] currentZPosition:0.0569
2025-04-24 10:33:06 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:06 [debug] Diagnostics for board 50:
2025-04-24 10:33:06 [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 10:33:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:11 ago, cause: software
2025-04-24 10:33:06 [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 10:33:06 [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 10:33:06 [debug] Moves scheduled 5984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 78, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:33:06 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16723, writes 0 timeouts 0
2025-04-24 10:33:06 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36407/37178
2025-04-24 10:33:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:06 [info] currentZPosition:0.0566
2025-04-24 10:33:07 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:07 [debug] Diagnostics for board 50:
2025-04-24 10:33:07 [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 10:33:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:12 ago, cause: software
2025-04-24 10:33:07 [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 10:33:07 [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 10:33:07 [debug] Moves scheduled 5988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:07 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17350, writes 0 timeouts 0
2025-04-24 10:33:07 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37175
2025-04-24 10:33:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8683, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:07 [info] currentZPosition:0.0560
2025-04-24 10:33:08 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:08 [debug] Diagnostics for board 50:
2025-04-24 10:33:08 [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 10:33:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:13 ago, cause: software
2025-04-24 10:33:08 [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 10:33:08 [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 10:33:08 [debug] Moves scheduled 5992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:08 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16454, writes 0 timeouts 0
2025-04-24 10:33:08 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37178
2025-04-24 10:33:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8651, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:09 [info] currentZPosition:0.0566
2025-04-24 10:33:10 [debug] Stopped at height 0.055 mm
2025-04-24 10:33:10 [debug] Diagnostics for board 50:
2025-04-24 10:33:10 [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 10:33:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:15 ago, cause: software
2025-04-24 10:33:10 [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 10:33:10 [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 10:33:10 [debug] Moves scheduled 5996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 79, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:33:10 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17580, writes 0 timeouts 0
2025-04-24 10:33:10 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37173
2025-04-24 10:33:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:10 [info] currentZPosition:0.0555
2025-04-24 10:33:11 [debug] Stopped at height 0.055 mm
2025-04-24 10:33:11 [debug] Diagnostics for board 50:
2025-04-24 10:33:11 [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 10:33:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:16 ago, cause: software
2025-04-24 10:33:11 [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 10:33:11 [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 10:33:11 [debug] Moves scheduled 6000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:33:11 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16772, writes 0 timeouts 0
2025-04-24 10:33:11 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37176
2025-04-24 10:33:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:11 [info] currentZPosition:0.0548
2025-04-24 10:33:13 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:13 [debug] Diagnostics for board 50:
2025-04-24 10:33:13 [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 10:33:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:17 ago, cause: software
2025-04-24 10:33:13 [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 10:33:13 [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 10:33:13 [debug] Moves scheduled 6004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6000, max=17045
Sync err accum 98, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:13 [debug] Driver 0: pos -3422, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16393, writes 0 timeouts 0
2025-04-24 10:33:13 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37173
2025-04-24 10:33:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8616, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:13 [info] currentZPosition:0.0573
2025-04-24 10:33:13 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:14 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:14 [debug] Diagnostics for board 50:
2025-04-24 10:33:14 [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 10:33:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:19 ago, cause: software
2025-04-24 10:33:14 [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 10:33:14 [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 10:33:14 [debug] Moves scheduled 6010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:14 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20994, writes 0 timeouts 0
2025-04-24 10:33:14 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37174
2025-04-24 10:33:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8687, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:14 [info] currentZPosition:0.0560
2025-04-24 10:33:16 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:16 [debug] Diagnostics for board 50:
2025-04-24 10:33:16 [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 10:33:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:20 ago, cause: software
2025-04-24 10:33:16 [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 10:33:16 [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 10:33:16 [debug] Moves scheduled 6014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 104, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:16 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16791, writes 0 timeouts 0
2025-04-24 10:33:16 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 10:33:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8624, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:16 [info] currentZPosition:0.0573
2025-04-24 10:33:16 [debug] Stopped at height 0.054 mm
2025-04-24 10:33:16 [debug] Stopped at height 0.053 mm
2025-04-24 10:33:18 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:18 [debug] Diagnostics for board 50:
2025-04-24 10:33:18 [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 10:33:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:22 ago, cause: software
2025-04-24 10:33:18 [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 10:33:18 [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 10:33:18 [debug] Moves scheduled 6022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 105, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:18 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 25102, writes 0 timeouts 0
2025-04-24 10:33:18 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36402/37178
2025-04-24 10:33:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8677, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:18 [info] currentZPosition:0.0564
2025-04-24 10:33:18 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:19 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:19 [debug] Diagnostics for board 50:
2025-04-24 10:33:19 [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 10:33:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:24 ago, cause: software
2025-04-24 10:33:19 [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 10:33:19 [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 10:33:19 [debug] Moves scheduled 6028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:19 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 21088, writes 0 timeouts 0
2025-04-24 10:33:19 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37175
2025-04-24 10:33:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8677, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:19 [info] currentZPosition:0.0565
2025-04-24 10:33:21 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:21 [debug] Diagnostics for board 50:
2025-04-24 10:33:21 [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 10:33:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:25 ago, cause: software
2025-04-24 10:33:21 [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 10:33:21 [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 10:33:21 [debug] Moves scheduled 6032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:21 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16279, writes 0 timeouts 0
2025-04-24 10:33:21 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37177
2025-04-24 10:33:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8629, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:21 [info] currentZPosition:0.0574
2025-04-24 10:33:22 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:22 [debug] Diagnostics for board 50:
2025-04-24 10:33:22 [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 10:33:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:27 ago, cause: software
2025-04-24 10:33:22 [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 10:33:22 [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 10:33:22 [debug] Moves scheduled 6036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 85, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:22 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17693, writes 0 timeouts 0
2025-04-24 10:33:22 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 10:33:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:22 [info] currentZPosition:0.0556
2025-04-24 10:33:22 [debug] Stopped at height 0.055 mm
2025-04-24 10:33:24 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:24 [debug] Diagnostics for board 50:
2025-04-24 10:33:24 [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 10:33:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:28 ago, cause: software
2025-04-24 10:33:24 [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 10:33:24 [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 10:33:24 [debug] Moves scheduled 6042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6250, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:33:24 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20420, writes 0 timeouts 0
2025-04-24 10:33:24 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37176
2025-04-24 10:33:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:24 [info] currentZPosition:0.0560
2025-04-24 10:33:25 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:25 [debug] Diagnostics for board 50:
2025-04-24 10:33:25 [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 10:33:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:30 ago, cause: software
2025-04-24 10:33:25 [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 10:33:25 [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 10:33:25 [debug] Moves scheduled 6046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=489, max=17045
Sync err accum 62, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:25 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16751, writes 11 timeouts 1
2025-04-24 10:33:25 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37176
2025-04-24 10:33:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8657, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:25 [info] currentZPosition:0.0570
2025-04-24 10:33:26 [debug] Stopped at height 0.058 mm
2025-04-24 10:33:26 [debug] Diagnostics for board 50:
2025-04-24 10:33:26 [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 10:33:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:31 ago, cause: software
2025-04-24 10:33:26 [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 10:33:26 [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 10:33:26 [debug] Moves scheduled 6050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:26 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16323, writes 0 timeouts 0
2025-04-24 10:33:26 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36395/37178
2025-04-24 10:33:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8611, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:26 [info] currentZPosition:0.0579
2025-04-24 10:33:28 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:28 [debug] Diagnostics for board 50:
2025-04-24 10:33:28 [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 10:33:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:32 ago, cause: software
2025-04-24 10:33:28 [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 10:33:28 [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 10:33:28 [debug] Moves scheduled 6054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17045
Sync err accum 84, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:33:28 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17434, writes 0 timeouts 0
2025-04-24 10:33:28 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 10:33:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8647, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:28 [info] currentZPosition:0.0571
2025-04-24 10:33:29 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:29 [debug] Diagnostics for board 50:
2025-04-24 10:33:29 [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 10:33:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:35:34 ago, cause: software
2025-04-24 10:33:29 [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 10:33:29 [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 10:33:29 [debug] Moves scheduled 6058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 99, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:33:29 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16617, writes 0 timeouts 0
2025-04-24 10:33:29 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37174
2025-04-24 10:33:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8649, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:29 [info] currentZPosition:0.0571
2025-04-24 10:33:30 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:30 [debug] Diagnostics for board 50:
2025-04-24 10:33:30 [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 10:33:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:35 ago, cause: software
2025-04-24 10:33:30 [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 10:33:30 [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 10:33:30 [debug] Moves scheduled 6062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 112, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:30 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17320, writes 0 timeouts 0
2025-04-24 10:33:30 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37172
2025-04-24 10:33:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8680, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:30 [info] currentZPosition:0.0565
2025-04-24 10:33:32 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:32 [debug] Diagnostics for board 50:
2025-04-24 10:33:32 [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 10:33:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:36 ago, cause: software
2025-04-24 10:33:32 [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 10:33:32 [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 10:33:32 [debug] Moves scheduled 6066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 122, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:32 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16598, writes 0 timeouts 0
2025-04-24 10:33:32 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37173
2025-04-24 10:33:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8686, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:32 [info] currentZPosition:0.0564
2025-04-24 10:33:33 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:33 [debug] Diagnostics for board 50:
2025-04-24 10:33:33 [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 10:33:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:38 ago, cause: software
2025-04-24 10:33:33 [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 10:33:33 [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 10:33:33 [debug] Moves scheduled 6070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17441
Sync err accum 127, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:33 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17352, writes 0 timeouts 0
2025-04-24 10:33:33 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37174
2025-04-24 10:33:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8703, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:33 [info] currentZPosition:0.0562
2025-04-24 10:33:34 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:34 [debug] Diagnostics for board 50:
2025-04-24 10:33:34 [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 10:33:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:39 ago, cause: software
2025-04-24 10:33:34 [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 10:33:34 [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 10:33:34 [debug] Moves scheduled 6074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 126, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:34 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16543, writes 0 timeouts 0
2025-04-24 10:33:34 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37175
2025-04-24 10:33:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8682, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:34 [info] currentZPosition:0.0567
2025-04-24 10:33:36 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:36 [debug] Diagnostics for board 50:
2025-04-24 10:33:36 [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 10:33:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:41 ago, cause: software
2025-04-24 10:33:36 [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 10:33:36 [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 10:33:36 [debug] Moves scheduled 6078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=777, max=17045
Sync err accum 124, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:36 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17021, writes 11 timeouts 1
2025-04-24 10:33:36 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36114/37176
2025-04-24 10:33:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8662, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:36 [info] currentZPosition:0.0571
2025-04-24 10:33:37 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:37 [debug] Diagnostics for board 50:
2025-04-24 10:33:37 [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 10:33:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:42 ago, cause: software
2025-04-24 10:33:37 [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 10:33:37 [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 10:33:37 [debug] Moves scheduled 6082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 120, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935123 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:37 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16937, writes 0 timeouts 0
2025-04-24 10:33:37 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36285/37174
2025-04-24 10:33:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:37 [info] currentZPosition:0.0559
2025-04-24 10:33:38 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:38 [debug] Diagnostics for board 50:
2025-04-24 10:33:38 [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 10:33:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:43 ago, cause: software
2025-04-24 10:33:38 [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 10:33:38 [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 10:33:38 [debug] Moves scheduled 6086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 108, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:33:38 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17089, writes 0 timeouts 0
2025-04-24 10:33:38 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37176
2025-04-24 10:33:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:39 [info] currentZPosition:0.0562
2025-04-24 10:33:40 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:40 [debug] Diagnostics for board 50:
2025-04-24 10:33:40 [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 10:33:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:45 ago, cause: software
2025-04-24 10:33:40 [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 10:33:40 [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 10:33:40 [debug] Moves scheduled 6090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=520, max=17045
Sync err accum 96, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:40 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16459, writes 11 timeouts 1
2025-04-24 10:33:40 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37179
2025-04-24 10:33:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8680, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:40 [info] currentZPosition:0.0567
2025-04-24 10:33:41 [debug] Stopped at height 0.055 mm
2025-04-24 10:33:41 [debug] Diagnostics for board 50:
2025-04-24 10:33:41 [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 10:33:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:46 ago, cause: software
2025-04-24 10:33:41 [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 10:33:41 [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 10:33:41 [debug] Moves scheduled 6094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17857
Sync err accum 83, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:41 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17698, writes 0 timeouts 0
2025-04-24 10:33:41 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36092/37173
2025-04-24 10:33:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:41 [info] currentZPosition:0.0549
2025-04-24 10:33:42 [debug] Stopped at height 0.053 mm
2025-04-24 10:33:43 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:43 [debug] Diagnostics for board 50:
2025-04-24 10:33:43 [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 10:33:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:48 ago, cause: software
2025-04-24 10:33:43 [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 10:33:43 [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 10:33:43 [debug] Moves scheduled 6100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:43 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20404, writes 0 timeouts 0
2025-04-24 10:33:43 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 292, adv 36161/37177
2025-04-24 10:33:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:43 [info] currentZPosition:0.0560
2025-04-24 10:33:43 [debug] Stopped at height 0.055 mm
2025-04-24 10:33:45 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:45 [debug] Diagnostics for board 50:
2025-04-24 10:33:45 [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 10:33:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:49 ago, cause: software
2025-04-24 10:33:45 [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 10:33:45 [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 10:33:45 [debug] Moves scheduled 6106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=9, max=93, frequency (Hz): min=6198, max=17857
Sync err accum 66, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:45 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20768, writes 0 timeouts 0
2025-04-24 10:33:45 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37178
2025-04-24 10:33:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:45 [info] currentZPosition:0.0572
2025-04-24 10:33:45 [debug] Stopped at height 0.060 mm
2025-04-24 10:33:45 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:46 [debug] Stopped at height 0.058 mm
2025-04-24 10:33:46 [debug] Diagnostics for board 50:
2025-04-24 10:33:46 [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 10:33:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:51 ago, cause: software
2025-04-24 10:33:46 [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 10:33:46 [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 10:33:46 [debug] Moves scheduled 6113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 72, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:33:46 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 23572, writes 0 timeouts 0
2025-04-24 10:33:46 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 287, adv 36160/37175
2025-04-24 10:33:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8626, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:46 [info] currentZPosition:0.0581
2025-04-24 10:33:47 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:48 [debug] Stopped at height 0.058 mm
2025-04-24 10:33:48 [debug] Diagnostics for board 50:
2025-04-24 10:33:48 [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 10:33:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:53 ago, cause: software
2025-04-24 10:33:48 [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 10:33:48 [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 10:33:48 [debug] Moves scheduled 6119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 71, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:48 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 21135, writes 0 timeouts 0
2025-04-24 10:33:48 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37176
2025-04-24 10:33:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:48 [info] currentZPosition:0.0579
2025-04-24 10:33:49 [debug] Stopped at height 0.058 mm
2025-04-24 10:33:49 [debug] Diagnostics for board 50:
2025-04-24 10:33:49 [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 10:33:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:54 ago, cause: software
2025-04-24 10:33:49 [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 10:33:49 [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 10:33:49 [debug] Moves scheduled 6123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 71, peak jitter 0/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:49 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16547, writes 0 timeouts 0
2025-04-24 10:33:49 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36166/37175
2025-04-24 10:33:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:49 [info] currentZPosition:0.0580
2025-04-24 10:33:51 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:51 [debug] Diagnostics for board 50:
2025-04-24 10:33:51 [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 10:33:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:56 ago, cause: software
2025-04-24 10:33:51 [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 10:33:51 [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 10:33:51 [debug] Moves scheduled 6127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:51 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17393, writes 0 timeouts 0
2025-04-24 10:33:51 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37170
2025-04-24 10:33:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:51 [info] currentZPosition:0.0572
2025-04-24 10:33:52 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:52 [debug] Diagnostics for board 50:
2025-04-24 10:33:52 [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 10:33:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:57 ago, cause: software
2025-04-24 10:33:52 [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 10:33:52 [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 10:33:52 [debug] Moves scheduled 6131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5639, max=17857
Sync err accum 65, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:33:52 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16490, writes 0 timeouts 0
2025-04-24 10:33:52 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36148/37176
2025-04-24 10:33:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:52 [info] currentZPosition:0.0575
2025-04-24 10:33:54 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:54 [debug] Diagnostics for board 50:
2025-04-24 10:33:54 [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 10:33:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:35:58 ago, cause: software
2025-04-24 10:33:54 [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 10:33:54 [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 10:33:54 [debug] Moves scheduled 6135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933421 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:33:54 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17417, writes 0 timeouts 0
2025-04-24 10:33:54 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36103/37174
2025-04-24 10:33:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:54 [info] currentZPosition:0.0566
2025-04-24 10:33:55 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:55 [debug] Diagnostics for board 50:
2025-04-24 10:33:55 [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 10:33:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:00 ago, cause: software
2025-04-24 10:33:55 [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 10:33:55 [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 10:33:55 [debug] Moves scheduled 6139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:33:55 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16739, writes 0 timeouts 0
2025-04-24 10:33:55 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36159/37171
2025-04-24 10:33:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:55 [info] currentZPosition:0.0560
2025-04-24 10:33:56 [debug] Stopped at height 0.058 mm
2025-04-24 10:33:56 [debug] Diagnostics for board 50:
2025-04-24 10:33:56 [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 10:33:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:01 ago, cause: software
2025-04-24 10:33:56 [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 10:33:56 [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 10:33:56 [debug] Moves scheduled 6143, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=494, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:33:56 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16450, writes 11 timeouts 1
2025-04-24 10:33:56 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37172
2025-04-24 10:33:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8626, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:56 [info] currentZPosition:0.0582
2025-04-24 10:33:57 [debug] Stopped at height 0.057 mm
2025-04-24 10:33:58 [debug] Stopped at height 0.056 mm
2025-04-24 10:33:58 [debug] Diagnostics for board 50:
2025-04-24 10:33:58 [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 10:33:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:03 ago, cause: software
2025-04-24 10:33:58 [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 10:33:58 [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 10:33:58 [debug] Moves scheduled 6149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 98, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:58 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 21113, writes 0 timeouts 0
2025-04-24 10:33:58 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37175
2025-04-24 10:33:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:58 [info] currentZPosition:0.0560
2025-04-24 10:33:59 [debug] Stopped at height 0.059 mm
2025-04-24 10:33:59 [debug] Diagnostics for board 50:
2025-04-24 10:33:59 [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 10:33:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:04 ago, cause: software
2025-04-24 10:33:59 [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 10:33:59 [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 10:33:59 [debug] Moves scheduled 6153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:33:59 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16431, writes 0 timeouts 0
2025-04-24 10:33:59 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37168
2025-04-24 10:33:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8606, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:33:59 [info] currentZPosition:0.0586
2025-04-24 10:34:00 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:01 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:01 [debug] Diagnostics for board 50:
2025-04-24 10:34:01 [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 10:34:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:06 ago, cause: software
2025-04-24 10:34:01 [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 10:34:01 [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 10:34:01 [debug] Moves scheduled 6159, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:01 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 20873, writes 0 timeouts 0
2025-04-24 10:34:01 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37176
2025-04-24 10:34:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:01 [info] currentZPosition:0.0581
2025-04-24 10:34:02 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:02 [debug] Diagnostics for board 50:
2025-04-24 10:34:02 [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 10:34:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:07 ago, cause: software
2025-04-24 10:34:02 [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 10:34:02 [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 10:34:02 [debug] Moves scheduled 6163, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 99, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:02 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17303, writes 0 timeouts 0
2025-04-24 10:34:02 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37173
2025-04-24 10:34:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8669, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:02 [info] currentZPosition:0.0577
2025-04-24 10:34:04 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:04 [debug] Diagnostics for board 50:
2025-04-24 10:34:04 [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 10:34:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:08 ago, cause: software
2025-04-24 10:34:04 [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 10:34:04 [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 10:34:04 [debug] Moves scheduled 6167, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17857
Sync err accum 96, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294930664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:04 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16568, writes 0 timeouts 0
2025-04-24 10:34:04 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37176
2025-04-24 10:34:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8662, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:04 [info] currentZPosition:0.0579
2025-04-24 10:34:05 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:05 [debug] Diagnostics for board 50:
2025-04-24 10:34:05 [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 10:34:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:10 ago, cause: software
2025-04-24 10:34:05 [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 10:34:05 [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 10:34:05 [debug] Moves scheduled 6171, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:05 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17265, writes 0 timeouts 0
2025-04-24 10:34:05 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36096/37172
2025-04-24 10:34:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:05 [info] currentZPosition:0.0578
2025-04-24 10:34:06 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:06 [debug] Diagnostics for board 50:
2025-04-24 10:34:06 [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 10:34:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:11 ago, cause: software
2025-04-24 10:34:06 [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 10:34:06 [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 10:34:06 [debug] Moves scheduled 6175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 80, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:06 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16363, writes 0 timeouts 0
2025-04-24 10:34:06 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37172
2025-04-24 10:34:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:06 [info] currentZPosition:0.0584
2025-04-24 10:34:08 [debug] Stopped at height 0.056 mm
2025-04-24 10:34:08 [debug] Diagnostics for board 50:
2025-04-24 10:34:08 [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 10:34:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:12 ago, cause: software
2025-04-24 10:34:08 [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 10:34:08 [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 10:34:08 [debug] Moves scheduled 6179, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
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 4294932397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:08 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17880, writes 0 timeouts 0
2025-04-24 10:34:08 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37174
2025-04-24 10:34:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:08 [info] currentZPosition:0.0563
2025-04-24 10:34:08 [debug] Stopped at height 0.056 mm
2025-04-24 10:34:09 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:09 [debug] Diagnostics for board 50:
2025-04-24 10:34:09 [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 10:34:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:14 ago, cause: software
2025-04-24 10:34:09 [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 10:34:09 [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 10:34:09 [debug] Moves scheduled 6185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6818, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294931764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:09 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 19781, writes 0 timeouts 0
2025-04-24 10:34:09 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36160/37175
2025-04-24 10:34:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8632, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:09 [info] currentZPosition:0.0585
2025-04-24 10:34:10 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:11 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:11 [debug] Diagnostics for board 50:
2025-04-24 10:34:11 [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 10:34:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:16 ago, cause: software
2025-04-24 10:34:11 [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 10:34:11 [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 10:34:11 [debug] Moves scheduled 6191, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:34:11 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 21248, writes 0 timeouts 0
2025-04-24 10:34:11 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37175
2025-04-24 10:34:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8651, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:11 [info] currentZPosition:0.0582
2025-04-24 10:34:12 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:12 [debug] Diagnostics for board 50:
2025-04-24 10:34:12 [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 10:34:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:17 ago, cause: software
2025-04-24 10:34:12 [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 10:34:12 [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 10:34:12 [debug] Moves scheduled 6195, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=510, max=17045
Sync err accum 100, peak jitter 2/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:34:12 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16683, writes 11 timeouts 1
2025-04-24 10:34:12 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37173
2025-04-24 10:34:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8673, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:12 [info] currentZPosition:0.0579
2025-04-24 10:34:14 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:14 [debug] Diagnostics for board 50:
2025-04-24 10:34:14 [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 10:34:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:18 ago, cause: software
2025-04-24 10:34:14 [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 10:34:14 [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 10:34:14 [debug] Moves scheduled 6199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 108, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294928723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:14 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17098, writes 0 timeouts 0
2025-04-24 10:34:14 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37173
2025-04-24 10:34:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8642, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:14 [info] currentZPosition:0.0584
2025-04-24 10:34:15 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:15 [debug] Diagnostics for board 50:
2025-04-24 10:34:15 [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 10:34:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:20 ago, cause: software
2025-04-24 10:34:15 [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 10:34:15 [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 10:34:15 [debug] Moves scheduled 6203, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 120, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:15 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16522, writes 0 timeouts 0
2025-04-24 10:34:15 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36147/37172
2025-04-24 10:34:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8635, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:15 [info] currentZPosition:0.0585
2025-04-24 10:34:16 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:16 [debug] Diagnostics for board 50:
2025-04-24 10:34:16 [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 10:34:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:36:21 ago, cause: software
2025-04-24 10:34:16 [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 10:34:16 [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 10:34:16 [debug] Moves scheduled 6207, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 129, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:16 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17521, writes 0 timeouts 0
2025-04-24 10:34:16 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37171
2025-04-24 10:34:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:16 [info] currentZPosition:0.0575
2025-04-24 10:34:18 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:18 [debug] Diagnostics for board 50:
2025-04-24 10:34:18 [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 10:34:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:23 ago, cause: software
2025-04-24 10:34:18 [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 10:34:18 [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 10:34:18 [debug] Moves scheduled 6211, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 122, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:18 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16457, writes 0 timeouts 0
2025-04-24 10:34:18 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37176
2025-04-24 10:34:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:18 [info] currentZPosition:0.0579
2025-04-24 10:34:19 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:19 [debug] Diagnostics for board 50:
2025-04-24 10:34:19 [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 10:34:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:24 ago, cause: software
2025-04-24 10:34:19 [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 10:34:19 [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 10:34:19 [debug] Moves scheduled 6215, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 115, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:34:19 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17249, writes 0 timeouts 0
2025-04-24 10:34:19 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36111/37179
2025-04-24 10:34:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:19 [info] currentZPosition:0.0578
2025-04-24 10:34:20 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:20 [debug] Diagnostics for board 50:
2025-04-24 10:34:20 [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 10:34:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:25 ago, cause: software
2025-04-24 10:34:20 [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 10:34:20 [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 10:34:20 [debug] Moves scheduled 6219, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 105, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:34:20 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16420, writes 0 timeouts 0
2025-04-24 10:34:20 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36171/37172
2025-04-24 10:34:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:20 [info] currentZPosition:0.0584
2025-04-24 10:34:22 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:22 [debug] Diagnostics for board 50:
2025-04-24 10:34:22 [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 10:34:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:27 ago, cause: software
2025-04-24 10:34:22 [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 10:34:22 [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 10:34:22 [debug] Moves scheduled 6223, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 88, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:22 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17299, writes 0 timeouts 0
2025-04-24 10:34:22 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37176
2025-04-24 10:34:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8665, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:22 [info] currentZPosition:0.0580
2025-04-24 10:34:23 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:23 [debug] Diagnostics for board 50:
2025-04-24 10:34:23 [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 10:34:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:28 ago, cause: software
2025-04-24 10:34:23 [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 10:34:23 [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 10:34:23 [debug] Moves scheduled 6227, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 74, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:23 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16757, writes 0 timeouts 0
2025-04-24 10:34:23 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37178
2025-04-24 10:34:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:23 [info] currentZPosition:0.0574
2025-04-24 10:34:25 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:25 [debug] Diagnostics for board 50:
2025-04-24 10:34:25 [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 10:34:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:29 ago, cause: software
2025-04-24 10:34:25 [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 10:34:25 [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 10:34:25 [debug] Moves scheduled 6231, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17857
Sync err accum 59, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:25 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17214, writes 0 timeouts 0
2025-04-24 10:34:25 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36115/37181
2025-04-24 10:34:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:25 [info] currentZPosition:0.0575
2025-04-24 10:34:26 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:26 [debug] Diagnostics for board 50:
2025-04-24 10:34:26 [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 10:34:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:31 ago, cause: software
2025-04-24 10:34:26 [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 10:34:26 [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 10:34:26 [debug] Moves scheduled 6235, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter 0/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:34:26 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16154, writes 0 timeouts 0
2025-04-24 10:34:26 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36162/37176
2025-04-24 10:34:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8624, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:26 [info] currentZPosition:0.0588
2025-04-24 10:34:26 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:28 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:28 [debug] Diagnostics for board 50:
2025-04-24 10:34:28 [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 10:34:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:32 ago, cause: software
2025-04-24 10:34:28 [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 10:34:28 [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 10:34:28 [debug] Moves scheduled 6241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17857
Sync err accum 80, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:28 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21695, writes 0 timeouts 0
2025-04-24 10:34:28 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36094/37175
2025-04-24 10:34:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:28 [info] currentZPosition:0.0567
2025-04-24 10:34:29 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:29 [debug] Diagnostics for board 50:
2025-04-24 10:34:29 [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 10:34:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:34 ago, cause: software
2025-04-24 10:34:29 [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 10:34:29 [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 10:34:29 [debug] Moves scheduled 6245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:34:29 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16125, writes 0 timeouts 0
2025-04-24 10:34:29 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37174
2025-04-24 10:34:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8662, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:29 [info] currentZPosition:0.0582
2025-04-24 10:34:29 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:31 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:31 [debug] Diagnostics for board 50:
2025-04-24 10:34:31 [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 10:34:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:35 ago, cause: software
2025-04-24 10:34:31 [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 10:34:31 [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 10:34:31 [debug] Moves scheduled 6251, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17441
Sync err accum 93, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:31 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 21147, writes 0 timeouts 0
2025-04-24 10:34:31 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37175
2025-04-24 10:34:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8675, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:31 [info] currentZPosition:0.0581
2025-04-24 10:34:32 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:32 [debug] Diagnostics for board 50:
2025-04-24 10:34:32 [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 10:34:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:37 ago, cause: software
2025-04-24 10:34:32 [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 10:34:32 [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 10:34:32 [debug] Moves scheduled 6255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=18292
Sync err accum 97, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:34:32 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16691, writes 0 timeouts 0
2025-04-24 10:34:32 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37174
2025-04-24 10:34:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8701, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:32 [info] currentZPosition:0.0577
2025-04-24 10:34:33 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:33 [debug] Diagnostics for board 50:
2025-04-24 10:34:33 [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 10:34:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:38 ago, cause: software
2025-04-24 10:34:33 [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 10:34:33 [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 10:34:33 [debug] Moves scheduled 6259, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5859, max=17045
Sync err accum 99, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:33 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17008, writes 0 timeouts 0
2025-04-24 10:34:33 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37177
2025-04-24 10:34:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:33 [info] currentZPosition:0.0582
2025-04-24 10:34:35 [debug] Stopped at height 0.056 mm
2025-04-24 10:34:35 [debug] Diagnostics for board 50:
2025-04-24 10:34:35 [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 10:34:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:39 ago, cause: software
2025-04-24 10:34:35 [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 10:34:35 [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 10:34:35 [debug] Moves scheduled 6263, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7009, max=17045
Sync err accum 97, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:35 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17306, writes 0 timeouts 0
2025-04-24 10:34:35 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36404/37176
2025-04-24 10:34:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:35 [info] currentZPosition:0.0562
2025-04-24 10:34:35 [debug] Stopped at height 0.054 mm
2025-04-24 10:34:35 [debug] Stopped at height 0.055 mm
2025-04-24 10:34:37 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:37 [debug] Diagnostics for board 50:
2025-04-24 10:34:37 [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 10:34:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:41 ago, cause: software
2025-04-24 10:34:37 [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 10:34:37 [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 10:34:37 [debug] Moves scheduled 6271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:37 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 24242, writes 0 timeouts 0
2025-04-24 10:34:37 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36108/37176
2025-04-24 10:34:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8643, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:37 [info] currentZPosition:0.0589
2025-04-24 10:34:37 [debug] Stopped at height 0.056 mm
2025-04-24 10:34:37 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:39 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:39 [debug] Diagnostics for board 50:
2025-04-24 10:34:39 [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 10:34:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:43 ago, cause: software
2025-04-24 10:34:39 [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 10:34:39 [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 10:34:39 [debug] Moves scheduled 6279, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 82, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294928792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:39 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 24385, writes 0 timeouts 0
2025-04-24 10:34:39 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36403/37178
2025-04-24 10:34:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:39 [info] currentZPosition:0.0592
2025-04-24 10:34:39 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:40 [debug] Stopped at height 0.060 mm
2025-04-24 10:34:40 [debug] Diagnostics for board 50:
2025-04-24 10:34:40 [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 10:34:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:45 ago, cause: software
2025-04-24 10:34:40 [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 10:34:40 [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 10:34:40 [debug] Moves scheduled 6285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:40 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20935, writes 0 timeouts 0
2025-04-24 10:34:40 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36113/37176
2025-04-24 10:34:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:40 [info] currentZPosition:0.0595
2025-04-24 10:34:41 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:42 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:42 [debug] Diagnostics for board 50:
2025-04-24 10:34:42 [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 10:34:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:47 ago, cause: software
2025-04-24 10:34:42 [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 10:34:42 [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 10:34:42 [debug] Moves scheduled 6291, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17857
Sync err accum 63, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:42 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20939, writes 0 timeouts 0
2025-04-24 10:34:42 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37176
2025-04-24 10:34:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:42 [info] currentZPosition:0.0582
2025-04-24 10:34:43 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:43 [debug] Diagnostics for board 50:
2025-04-24 10:34:43 [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 10:34:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:48 ago, cause: software
2025-04-24 10:34:43 [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 10:34:43 [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 10:34:43 [debug] Moves scheduled 6295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 75, peak jitter 2/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294929264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:43 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17176, writes 0 timeouts 0
2025-04-24 10:34:43 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37173
2025-04-24 10:34:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:43 [info] currentZPosition:0.0584
2025-04-24 10:34:45 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:45 [debug] Diagnostics for board 50:
2025-04-24 10:34:45 [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 10:34:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:49 ago, cause: software
2025-04-24 10:34:45 [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 10:34:45 [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 10:34:45 [debug] Moves scheduled 6299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6880, max=17045
Sync err accum 85, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:34:45 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16492, writes 0 timeouts 0
2025-04-24 10:34:45 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37175
2025-04-24 10:34:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:45 [info] currentZPosition:0.0588
2025-04-24 10:34:46 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:46 [debug] Diagnostics for board 50:
2025-04-24 10:34:46 [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 10:34:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:51 ago, cause: software
2025-04-24 10:34:46 [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 10:34:46 [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 10:34:46 [debug] Moves scheduled 6303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:46 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17593, writes 0 timeouts 0
2025-04-24 10:34:46 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37173
2025-04-24 10:34:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:46 [info] currentZPosition:0.0574
2025-04-24 10:34:46 [debug] Stopped at height 0.056 mm
2025-04-24 10:34:48 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:48 [debug] Diagnostics for board 50:
2025-04-24 10:34:48 [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 10:34:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:52 ago, cause: software
2025-04-24 10:34:48 [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 10:34:48 [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 10:34:48 [debug] Moves scheduled 6309, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17441
Sync err accum 99, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:34:48 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20445, writes 0 timeouts 0
2025-04-24 10:34:48 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36374/37176
2025-04-24 10:34:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:48 [info] currentZPosition:0.0579
2025-04-24 10:34:49 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:49 [debug] Diagnostics for board 50:
2025-04-24 10:34:49 [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 10:34:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:54 ago, cause: software
2025-04-24 10:34:49 [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 10:34:49 [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 10:34:49 [debug] Moves scheduled 6313, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6097, max=17045
Sync err accum 100, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:49 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16905, writes 0 timeouts 0
2025-04-24 10:34:49 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37176
2025-04-24 10:34:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8677, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:49 [info] currentZPosition:0.0587
2025-04-24 10:34:50 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:50 [debug] Diagnostics for board 50:
2025-04-24 10:34:50 [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 10:34:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:55 ago, cause: software
2025-04-24 10:34:50 [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 10:34:50 [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 10:34:50 [debug] Moves scheduled 6317, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:50 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16750, writes 0 timeouts 0
2025-04-24 10:34:50 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37176
2025-04-24 10:34:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:50 [info] currentZPosition:0.0581
2025-04-24 10:34:52 [debug] Stopped at height 0.057 mm
2025-04-24 10:34:52 [debug] Diagnostics for board 50:
2025-04-24 10:34:52 [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 10:34:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:56 ago, cause: software
2025-04-24 10:34:52 [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 10:34:52 [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 10:34:52 [debug] Moves scheduled 6321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 99, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:52 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17396, writes 0 timeouts 0
2025-04-24 10:34:52 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 10:34:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:52 [info] currentZPosition:0.0574
2025-04-24 10:34:53 [debug] Stopped at height 0.058 mm
2025-04-24 10:34:53 [debug] Diagnostics for board 50:
2025-04-24 10:34:53 [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 10:34:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:58 ago, cause: software
2025-04-24 10:34:53 [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 10:34:53 [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 10:34:53 [debug] Moves scheduled 6325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:53 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16340, writes 0 timeouts 0
2025-04-24 10:34:53 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36404/37175
2025-04-24 10:34:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:53 [info] currentZPosition:0.0583
2025-04-24 10:34:54 [debug] Stopped at height 0.060 mm
2025-04-24 10:34:54 [debug] Diagnostics for board 50:
2025-04-24 10:34:54 [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 10:34:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:36:59 ago, cause: software
2025-04-24 10:34:54 [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 10:34:54 [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 10:34:54 [debug] Moves scheduled 6329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter -1/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:34:54 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16629, writes 0 timeouts 0
2025-04-24 10:34:54 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 10:34:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8613, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:54 [info] currentZPosition:0.0601
2025-04-24 10:34:55 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:56 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:56 [debug] Diagnostics for board 50:
2025-04-24 10:34:56 [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 10:34:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:01 ago, cause: software
2025-04-24 10:34:56 [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 10:34:56 [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 10:34:56 [debug] Moves scheduled 6335, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:56 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20830, writes 0 timeouts 0
2025-04-24 10:34:56 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37179
2025-04-24 10:34:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:56 [info] currentZPosition:0.0591
2025-04-24 10:34:57 [debug] Stopped at height 0.059 mm
2025-04-24 10:34:57 [debug] Diagnostics for board 50:
2025-04-24 10:34:57 [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 10:34:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:02 ago, cause: software
2025-04-24 10:34:57 [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 10:34:57 [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 10:34:57 [debug] Moves scheduled 6339, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
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 4294932322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:34:57 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17082, writes 0 timeouts 0
2025-04-24 10:34:57 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36098/37176
2025-04-24 10:34:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:57 [info] currentZPosition:0.0594
2025-04-24 10:34:59 [debug] Stopped at height 0.060 mm
2025-04-24 10:34:59 [debug] Diagnostics for board 50:
2025-04-24 10:34:59 [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 10:34:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:03 ago, cause: software
2025-04-24 10:34:59 [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 10:34:59 [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 10:34:59 [debug] Moves scheduled 6343, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 66, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:34:59 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16538, writes 0 timeouts 0
2025-04-24 10:34:59 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37173
2025-04-24 10:34:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8635, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:34:59 [info] currentZPosition:0.0597
2025-04-24 10:35:00 [debug] Stopped at height 0.058 mm
2025-04-24 10:35:00 [debug] Diagnostics for board 50:
2025-04-24 10:35:00 [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 10:35:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:05 ago, cause: software
2025-04-24 10:35:00 [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 10:35:00 [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 10:35:00 [debug] Moves scheduled 6347, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 82, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:00 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17657, writes 0 timeouts 0
2025-04-24 10:35:00 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36107/37173
2025-04-24 10:35:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:00 [info] currentZPosition:0.0582
2025-04-24 10:35:00 [debug] Stopped at height 0.058 mm
2025-04-24 10:35:02 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:02 [debug] Diagnostics for board 50:
2025-04-24 10:35:02 [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 10:35:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:06 ago, cause: software
2025-04-24 10:35:02 [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 10:35:02 [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 10:35:02 [debug] Moves scheduled 6353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 98, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:02 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20002, writes 0 timeouts 0
2025-04-24 10:35:02 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36390/37174
2025-04-24 10:35:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8622, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:02 [info] currentZPosition:0.0601
2025-04-24 10:35:02 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:03 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:03 [debug] Diagnostics for board 50:
2025-04-24 10:35:03 [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 10:35:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:08 ago, cause: software
2025-04-24 10:35:03 [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 10:35:03 [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 10:35:03 [debug] Moves scheduled 6359, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17441
Sync err accum 113, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:03 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 21488, writes 0 timeouts 0
2025-04-24 10:35:03 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36093/37175
2025-04-24 10:35:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8692, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:03 [info] currentZPosition:0.0588
2025-04-24 10:35:05 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:05 [debug] Diagnostics for board 50:
2025-04-24 10:35:05 [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 10:35:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:10 ago, cause: software
2025-04-24 10:35:05 [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 10:35:05 [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 10:35:05 [debug] Moves scheduled 6363, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=511, max=18292
Sync err accum 120, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:05 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16674, writes 11 timeouts 1
2025-04-24 10:35:05 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37175
2025-04-24 10:35:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:05 [info] currentZPosition:0.0585
2025-04-24 10:35:06 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:06 [debug] Diagnostics for board 50:
2025-04-24 10:35:06 [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 10:35:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:11 ago, cause: software
2025-04-24 10:35:06 [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 10:35:06 [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 10:35:06 [debug] Moves scheduled 6367, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=18292
Sync err accum 128, 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 4294930936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 10:35:06 [debug] Driver 0: pos -3436, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24729, writes 0 timeouts 0
2025-04-24 10:35:06 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36109/37177
2025-04-24 10:35:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8687, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:07 [info] currentZPosition:0.0589
2025-04-24 10:35:09 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:09 [debug] Diagnostics for board 50:
2025-04-24 10:35:09 [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 10:35:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:14 ago, cause: software
2025-04-24 10:35:09 [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 10:35:09 [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 10:35:09 [debug] Moves scheduled 6371, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 107, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294882470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:35:09 [debug] Driver 0: pos -3435, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25443, writes 0 timeouts 0
2025-04-24 10:35:09 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36401/37177
2025-04-24 10:35:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8683, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:09 [info] currentZPosition:0.0590
2025-04-24 10:35:10 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:10 [debug] Diagnostics for board 50:
2025-04-24 10:35:10 [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 10:35:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:15 ago, cause: software
2025-04-24 10:35:10 [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 10:35:10 [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 10:35:10 [debug] Moves scheduled 6375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6198, max=17857
Sync err accum 96, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:35:10 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16819, writes 0 timeouts 0
2025-04-24 10:35:10 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37176
2025-04-24 10:35:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 797
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8620, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:10 [info] currentZPosition:0.0602
2025-04-24 10:35:11 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:11 [debug] Diagnostics for board 50:
2025-04-24 10:35:11 [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 10:35:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:16 ago, cause: software
2025-04-24 10:35:11 [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 10:35:11 [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 10:35:11 [debug] Moves scheduled 6379, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 83, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:11 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16855, writes 0 timeouts 0
2025-04-24 10:35:11 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37178
2025-04-24 10:35:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:12 [info] currentZPosition:0.0593
2025-04-24 10:35:13 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:13 [debug] Diagnostics for board 50:
2025-04-24 10:35:13 [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 10:35:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:18 ago, cause: software
2025-04-24 10:35:13 [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 10:35:13 [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 10:35:13 [debug] Moves scheduled 6383, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:35:13 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17435, writes 0 timeouts 0
2025-04-24 10:35:13 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37178
2025-04-24 10:35:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:13 [info] currentZPosition:0.0585
2025-04-24 10:35:14 [debug] Stopped at height 0.061 mm
2025-04-24 10:35:14 [debug] Diagnostics for board 50:
2025-04-24 10:35:14 [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 10:35:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:19 ago, cause: software
2025-04-24 10:35:14 [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 10:35:14 [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 10:35:14 [debug] Moves scheduled 6387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -4/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:14 [debug] Driver 0: pos -3413, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 15771, writes 0 timeouts 0
2025-04-24 10:35:14 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36378/37170
2025-04-24 10:35:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8567, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:14 [info] currentZPosition:0.0612
2025-04-24 10:35:15 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:16 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:16 [debug] Diagnostics for board 50:
2025-04-24 10:35:16 [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 10:35:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:21 ago, cause: software
2025-04-24 10:35:16 [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 10:35:16 [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 10:35:16 [debug] Moves scheduled 6393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6880, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:16 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 21565, writes 0 timeouts 0
2025-04-24 10:35:16 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37174
2025-04-24 10:35:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8669, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:16 [info] currentZPosition:0.0594
2025-04-24 10:35:17 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:17 [debug] Diagnostics for board 50:
2025-04-24 10:35:17 [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 10:35:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:22 ago, cause: software
2025-04-24 10:35:17 [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 10:35:17 [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 10:35:17 [debug] Moves scheduled 6397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
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 4294936242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:17 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16711, writes 0 timeouts 0
2025-04-24 10:35:17 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37175
2025-04-24 10:35:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:17 [info] currentZPosition:0.0590
2025-04-24 10:35:19 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:19 [debug] Diagnostics for board 50:
2025-04-24 10:35:19 [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 10:35:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:23 ago, cause: software
2025-04-24 10:35:19 [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 10:35:19 [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 10:35:19 [debug] Moves scheduled 6401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:19 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16851, writes 0 timeouts 0
2025-04-24 10:35:19 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37175
2025-04-24 10:35:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8633, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:19 [info] currentZPosition:0.0600
2025-04-24 10:35:20 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:20 [debug] Diagnostics for board 50:
2025-04-24 10:35:20 [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 10:35:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:25 ago, cause: software
2025-04-24 10:35:20 [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 10:35:20 [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 10:35:20 [debug] Moves scheduled 6405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 72, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:20 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16801, writes 0 timeouts 0
2025-04-24 10:35:20 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37175
2025-04-24 10:35:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8664, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:20 [info] currentZPosition:0.0594
2025-04-24 10:35:21 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:21 [debug] Diagnostics for board 50:
2025-04-24 10:35:21 [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 10:35:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:26 ago, cause: software
2025-04-24 10:35:21 [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 10:35:21 [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 10:35:21 [debug] Moves scheduled 6409, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 64, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:21 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17089, writes 0 timeouts 0
2025-04-24 10:35:21 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36097/37176
2025-04-24 10:35:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:21 [info] currentZPosition:0.0595
2025-04-24 10:35:23 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:23 [debug] Diagnostics for board 50:
2025-04-24 10:35:23 [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 10:35:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:27 ago, cause: software
2025-04-24 10:35:23 [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 10:35:23 [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 10:35:23 [debug] Moves scheduled 6413, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=17045
Sync err accum 70, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:23 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16848, writes 0 timeouts 0
2025-04-24 10:35:23 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36401/37174
2025-04-24 10:35:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:23 [info] currentZPosition:0.0586
2025-04-24 10:35:24 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:24 [debug] Diagnostics for board 50:
2025-04-24 10:35:24 [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 10:35:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:29 ago, cause: software
2025-04-24 10:35:24 [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 10:35:24 [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 10:35:24 [debug] Moves scheduled 6417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 75, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:24 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16924, writes 0 timeouts 0
2025-04-24 10:35:24 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37172
2025-04-24 10:35:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8670, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:24 [info] currentZPosition:0.0594
2025-04-24 10:35:25 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:25 [debug] Diagnostics for board 50:
2025-04-24 10:35:25 [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 10:35:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:30 ago, cause: software
2025-04-24 10:35:25 [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 10:35:25 [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 10:35:25 [debug] Moves scheduled 6421, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:25 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16532, writes 0 timeouts 0
2025-04-24 10:35:25 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36383/37174
2025-04-24 10:35:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8657, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:25 [info] currentZPosition:0.0598
2025-04-24 10:35:27 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:27 [debug] Diagnostics for board 50:
2025-04-24 10:35:27 [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 10:35:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:31 ago, cause: software
2025-04-24 10:35:27 [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 10:35:27 [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 10:35:27 [debug] Moves scheduled 6425, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=18292
Sync err accum 79, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:27 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17542, writes 0 timeouts 0
2025-04-24 10:35:27 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 10:35:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:27 [info] currentZPosition:0.0586
2025-04-24 10:35:28 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:28 [debug] Diagnostics for board 50:
2025-04-24 10:35:28 [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 10:35:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:33 ago, cause: software
2025-04-24 10:35:28 [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 10:35:28 [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 10:35:28 [debug] Moves scheduled 6429, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 78, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:28 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16196, writes 0 timeouts 0
2025-04-24 10:35:28 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36281/37175
2025-04-24 10:35:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:28 [info] currentZPosition:0.0599
2025-04-24 10:35:28 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:30 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:30 [debug] Diagnostics for board 50:
2025-04-24 10:35:30 [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 10:35:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:34 ago, cause: software
2025-04-24 10:35:30 [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 10:35:30 [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 10:35:30 [debug] Moves scheduled 6435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 74, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:30 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 21142, writes 0 timeouts 0
2025-04-24 10:35:30 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37176
2025-04-24 10:35:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8668, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:30 [info] currentZPosition:0.0597
2025-04-24 10:35:31 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:31 [debug] Diagnostics for board 50:
2025-04-24 10:35:31 [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 10:35:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:36 ago, cause: software
2025-04-24 10:35:31 [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 10:35:31 [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 10:35:31 [debug] Moves scheduled 6439, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 68, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:31 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16765, writes 0 timeouts 0
2025-04-24 10:35:31 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37178
2025-04-24 10:35:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:31 [info] currentZPosition:0.0591
2025-04-24 10:35:32 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:32 [debug] Diagnostics for board 50:
2025-04-24 10:35:32 [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 10:35:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:37 ago, cause: software
2025-04-24 10:35:32 [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 10:35:32 [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 10:35:32 [debug] Moves scheduled 6443, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:32 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17163, writes 0 timeouts 0
2025-04-24 10:35:32 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37178
2025-04-24 10:35:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:32 [info] currentZPosition:0.0591
2025-04-24 10:35:34 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:34 [debug] Diagnostics for board 50:
2025-04-24 10:35:34 [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 10:35:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:38 ago, cause: software
2025-04-24 10:35:34 [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 10:35:34 [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 10:35:34 [debug] Moves scheduled 6447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 75, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:34 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16389, writes 0 timeouts 0
2025-04-24 10:35:34 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36145/37173
2025-04-24 10:35:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8659, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:34 [info] currentZPosition:0.0599
2025-04-24 10:35:35 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:35 [debug] Diagnostics for board 50:
2025-04-24 10:35:35 [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 10:35:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:40 ago, cause: software
2025-04-24 10:35:35 [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 10:35:35 [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 10:35:35 [debug] Moves scheduled 6451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6756, max=18292
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:35 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17543, writes 0 timeouts 0
2025-04-24 10:35:35 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36093/37173
2025-04-24 10:35:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:35 [info] currentZPosition:0.0589
2025-04-24 10:35:36 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:36 [debug] Diagnostics for board 50:
2025-04-24 10:35:36 [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 10:35:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:41 ago, cause: software
2025-04-24 10:35:36 [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 10:35:36 [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 10:35:36 [debug] Moves scheduled 6455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:36 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16413, writes 0 timeouts 0
2025-04-24 10:35:36 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37173
2025-04-24 10:35:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8683, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:36 [info] currentZPosition:0.0594
2025-04-24 10:35:38 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:38 [debug] Diagnostics for board 50:
2025-04-24 10:35:38 [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 10:35:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:43 ago, cause: software
2025-04-24 10:35:38 [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 10:35:38 [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 10:35:38 [debug] Moves scheduled 6459, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5769, max=17857
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:38 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17183, writes 0 timeouts 0
2025-04-24 10:35:38 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36109/37177
2025-04-24 10:35:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:38 [info] currentZPosition:0.0594
2025-04-24 10:35:39 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:39 [debug] Diagnostics for board 50:
2025-04-24 10:35:39 [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 10:35:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:44 ago, cause: software
2025-04-24 10:35:39 [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 10:35:39 [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 10:35:39 [debug] Moves scheduled 6463, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6465, max=18292
Sync err accum 83, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:39 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16623, writes 0 timeouts 0
2025-04-24 10:35:39 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37174
2025-04-24 10:35:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:39 [info] currentZPosition:0.0593
2025-04-24 10:35:40 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:40 [debug] Diagnostics for board 50:
2025-04-24 10:35:40 [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 10:35:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:45 ago, cause: software
2025-04-24 10:35:40 [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 10:35:40 [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 10:35:40 [debug] Moves scheduled 6467, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:40 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16931, writes 0 timeouts 0
2025-04-24 10:35:40 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37176
2025-04-24 10:35:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8638, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:41 [info] currentZPosition:0.0603
2025-04-24 10:35:42 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:42 [debug] Diagnostics for board 50:
2025-04-24 10:35:42 [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 10:35:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:47 ago, cause: software
2025-04-24 10:35:42 [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 10:35:42 [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 10:35:42 [debug] Moves scheduled 6471, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=5952, max=17045
Sync err accum 74, peak jitter -1/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:42 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16804, writes 0 timeouts 0
2025-04-24 10:35:42 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37173
2025-04-24 10:35:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:42 [info] currentZPosition:0.0596
2025-04-24 10:35:43 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:43 [debug] Diagnostics for board 50:
2025-04-24 10:35:43 [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 10:35:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:48 ago, cause: software
2025-04-24 10:35:43 [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 10:35:43 [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 10:35:43 [debug] Moves scheduled 6475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:43 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17527, writes 0 timeouts 0
2025-04-24 10:35:43 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36098/37178
2025-04-24 10:35:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:43 [info] currentZPosition:0.0585
2025-04-24 10:35:45 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:45 [debug] Diagnostics for board 50:
2025-04-24 10:35:45 [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 10:35:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:49 ago, cause: software
2025-04-24 10:35:45 [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 10:35:45 [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 10:35:45 [debug] Moves scheduled 6479, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:45 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16474, writes 0 timeouts 0
2025-04-24 10:35:45 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36165/37177
2025-04-24 10:35:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:45 [info] currentZPosition:0.0588
2025-04-24 10:35:46 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:46 [debug] Diagnostics for board 50:
2025-04-24 10:35:46 [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 10:35:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:51 ago, cause: software
2025-04-24 10:35:46 [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 10:35:46 [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 10:35:46 [debug] Moves scheduled 6483, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7009, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:46 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16771, writes 0 timeouts 0
2025-04-24 10:35:46 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37174
2025-04-24 10:35:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8636, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:46 [info] currentZPosition:0.0603
2025-04-24 10:35:46 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:48 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:48 [debug] Diagnostics for board 50:
2025-04-24 10:35:48 [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 10:35:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:52 ago, cause: software
2025-04-24 10:35:48 [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 10:35:48 [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 10:35:48 [debug] Moves scheduled 6489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:35:48 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20974, writes 0 timeouts 0
2025-04-24 10:35:48 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36158/37175
2025-04-24 10:35:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:48 [info] currentZPosition:0.0585
2025-04-24 10:35:49 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:49 [debug] Diagnostics for board 50:
2025-04-24 10:35:49 [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 10:35:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:54 ago, cause: software
2025-04-24 10:35:49 [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 10:35:49 [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 10:35:49 [debug] Moves scheduled 6493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6880, max=17857
Sync err accum 101, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:49 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16764, writes 0 timeouts 0
2025-04-24 10:35:49 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36107/37174
2025-04-24 10:35:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8670, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:49 [info] currentZPosition:0.0598
2025-04-24 10:35:49 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:51 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:51 [debug] Diagnostics for board 50:
2025-04-24 10:35:51 [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 10:35:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:55 ago, cause: software
2025-04-24 10:35:51 [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 10:35:51 [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 10:35:51 [debug] Moves scheduled 6499, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:51 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20279, writes 0 timeouts 0
2025-04-24 10:35:51 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36163/37174
2025-04-24 10:35:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8639, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:51 [info] currentZPosition:0.0604
2025-04-24 10:35:51 [debug] Stopped at height 0.062 mm
2025-04-24 10:35:52 [debug] Stopped at height 0.058 mm
2025-04-24 10:35:52 [debug] Diagnostics for board 50:
2025-04-24 10:35:52 [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 10:35:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:57 ago, cause: software
2025-04-24 10:35:52 [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 10:35:52 [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 10:35:52 [debug] Moves scheduled 6505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=17045
Sync err accum 111, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:52 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 21733, writes 0 timeouts 0
2025-04-24 10:35:52 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36094/37176
2025-04-24 10:35:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:52 [info] currentZPosition:0.0576
2025-04-24 10:35:53 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:53 [debug] Stopped at height 0.058 mm
2025-04-24 10:35:54 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:54 [debug] Diagnostics for board 50:
2025-04-24 10:35:54 [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 10:35:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:37:59 ago, cause: software
2025-04-24 10:35:54 [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 10:35:54 [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 10:35:54 [debug] Moves scheduled 6513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=507, max=17045
Sync err accum 112, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:35:54 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 24113, writes 11 timeouts 1
2025-04-24 10:35:54 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 36160/37176
2025-04-24 10:35:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:54 [info] currentZPosition:0.0598
2025-04-24 10:35:55 [debug] Stopped at height 0.059 mm
2025-04-24 10:35:56 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:56 [debug] Diagnostics for board 50:
2025-04-24 10:35:56 [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 10:35:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:01 ago, cause: software
2025-04-24 10:35:56 [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 10:35:56 [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 10:35:56 [debug] Moves scheduled 6519, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6637, max=17857
Sync err accum 107, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:35:56 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 21056, writes 0 timeouts 0
2025-04-24 10:35:56 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36092/37173
2025-04-24 10:35:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:56 [info] currentZPosition:0.0598
2025-04-24 10:35:57 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:57 [debug] Diagnostics for board 50:
2025-04-24 10:35:57 [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 10:35:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:02 ago, cause: software
2025-04-24 10:35:57 [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 10:35:57 [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 10:35:57 [debug] Moves scheduled 6523, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 105, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:57 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16459, writes 0 timeouts 0
2025-04-24 10:35:57 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36167/37171
2025-04-24 10:35:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8677, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:57 [info] currentZPosition:0.0602
2025-04-24 10:35:59 [debug] Stopped at height 0.060 mm
2025-04-24 10:35:59 [debug] Diagnostics for board 50:
2025-04-24 10:35:59 [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 10:35:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:03 ago, cause: software
2025-04-24 10:35:59 [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 10:35:59 [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 10:35:59 [debug] Moves scheduled 6527, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5681, max=17045
Sync err accum 100, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:35:59 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17176, writes 0 timeouts 0
2025-04-24 10:35:59 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37175
2025-04-24 10:35:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:35:59 [info] currentZPosition:0.0602
2025-04-24 10:36:00 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:00 [debug] Diagnostics for board 50:
2025-04-24 10:36:00 [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 10:36:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:05 ago, cause: software
2025-04-24 10:36:00 [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 10:36:00 [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 10:36:00 [debug] Moves scheduled 6531, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 91, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:00 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16492, writes 0 timeouts 0
2025-04-24 10:36:00 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37177
2025-04-24 10:36:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:00 [info] currentZPosition:0.0607
2025-04-24 10:36:01 [debug] Stopped at height 0.058 mm
2025-04-24 10:36:01 [debug] Diagnostics for board 50:
2025-04-24 10:36:01 [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 10:36:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:06 ago, cause: software
2025-04-24 10:36:01 [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 10:36:01 [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 10:36:01 [debug] Moves scheduled 6535, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=145, frequency (Hz): min=5555, max=18292
Sync err accum 79, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:36:01 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17948, writes 0 timeouts 0
2025-04-24 10:36:01 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37179
2025-04-24 10:36:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:01 [info] currentZPosition:0.0582
2025-04-24 10:36:02 [debug] Stopped at height 0.058 mm
2025-04-24 10:36:03 [debug] Stopped at height 0.059 mm
2025-04-24 10:36:03 [debug] Diagnostics for board 50:
2025-04-24 10:36:03 [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 10:36:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:08 ago, cause: software
2025-04-24 10:36:03 [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 10:36:03 [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 10:36:03 [debug] Moves scheduled 6541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=4601, max=17045
Sync err accum 65, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:36:03 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20357, writes 0 timeouts 0
2025-04-24 10:36:03 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36170/37178
2025-04-24 10:36:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:03 [info] currentZPosition:0.0589
2025-04-24 10:36:04 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:04 [debug] Diagnostics for board 50:
2025-04-24 10:36:04 [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 10:36:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:09 ago, cause: software
2025-04-24 10:36:04 [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 10:36:04 [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 10:36:04 [debug] Moves scheduled 6545, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17441
Sync err accum 66, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:04 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16865, writes 0 timeouts 0
2025-04-24 10:36:04 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37178
2025-04-24 10:36:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:04 [info] currentZPosition:0.0599
2025-04-24 10:36:06 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:06 [debug] Diagnostics for board 50:
2025-04-24 10:36:06 [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 10:36:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:10 ago, cause: software
2025-04-24 10:36:06 [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 10:36:06 [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 10:36:06 [debug] Moves scheduled 6549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6250, max=17045
Sync err accum 79, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:06 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16544, writes 0 timeouts 0
2025-04-24 10:36:06 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36145/37175
2025-04-24 10:36:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:06 [info] currentZPosition:0.0601
2025-04-24 10:36:07 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:07 [debug] Diagnostics for board 50:
2025-04-24 10:36:07 [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 10:36:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:12 ago, cause: software
2025-04-24 10:36:07 [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 10:36:07 [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 10:36:07 [debug] Moves scheduled 6553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6048, max=17045
Sync err accum 87, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:07 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17009, writes 0 timeouts 0
2025-04-24 10:36:07 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37174
2025-04-24 10:36:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:07 [info] currentZPosition:0.0604
2025-04-24 10:36:08 [debug] Stopped at height 0.058 mm
2025-04-24 10:36:08 [debug] Diagnostics for board 50:
2025-04-24 10:36:08 [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 10:36:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:13 ago, cause: software
2025-04-24 10:36:08 [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 10:36:08 [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 10:36:08 [debug] Moves scheduled 6557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:08 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17455, writes 0 timeouts 0
2025-04-24 10:36:08 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36158/37173
2025-04-24 10:36:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:08 [info] currentZPosition:0.0577
2025-04-24 10:36:09 [debug] Stopped at height 0.057 mm
2025-04-24 10:36:10 [debug] Stopped at height 0.059 mm
2025-04-24 10:36:10 [debug] Diagnostics for board 50:
2025-04-24 10:36:10 [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 10:36:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:15 ago, cause: software
2025-04-24 10:36:10 [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 10:36:10 [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 10:36:10 [debug] Moves scheduled 6563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:10 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20860, writes 0 timeouts 0
2025-04-24 10:36:10 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 10:36:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:10 [info] currentZPosition:0.0587
2025-04-24 10:36:10 [debug] Stopped at height 0.059 mm
2025-04-24 10:36:12 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:12 [debug] Diagnostics for board 50:
2025-04-24 10:36:12 [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 10:36:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:16 ago, cause: software
2025-04-24 10:36:12 [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 10:36:12 [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 10:36:12 [debug] Moves scheduled 6569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 104, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:12 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 19802, writes 0 timeouts 0
2025-04-24 10:36:12 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36158/37175
2025-04-24 10:36:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:12 [info] currentZPosition:0.0606
2025-04-24 10:36:12 [debug] Stopped at height 0.059 mm
2025-04-24 10:36:13 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:13 [debug] Diagnostics for board 50:
2025-04-24 10:36:13 [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 10:36:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:18 ago, cause: software
2025-04-24 10:36:13 [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 10:36:13 [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 10:36:13 [debug] Moves scheduled 6575, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 102, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:13 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 21143, writes 0 timeouts 0
2025-04-24 10:36:13 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37176
2025-04-24 10:36:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:13 [info] currentZPosition:0.0602
2025-04-24 10:36:14 [debug] Stopped at height 0.063 mm
2025-04-24 10:36:14 [debug] Stopped at height 0.059 mm
2025-04-24 10:36:15 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:15 [debug] Diagnostics for board 50:
2025-04-24 10:36:15 [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 10:36:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:20 ago, cause: software
2025-04-24 10:36:15 [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 10:36:15 [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 10:36:15 [debug] Moves scheduled 6583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:15 [debug] Driver 0: pos -3437, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 25851, writes 0 timeouts 0
2025-04-24 10:36:15 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 292, adv 36166/37178
2025-04-24 10:36:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8695, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:15 [info] currentZPosition:0.0604
2025-04-24 10:36:17 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:17 [debug] Diagnostics for board 50:
2025-04-24 10:36:17 [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 10:36:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:22 ago, cause: software
2025-04-24 10:36:17 [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 10:36:17 [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 10:36:17 [debug] Moves scheduled 6587, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:17 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17219, writes 0 timeouts 0
2025-04-24 10:36:17 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37178
2025-04-24 10:36:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:17 [info] currentZPosition:0.0602
2025-04-24 10:36:18 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:18 [debug] Diagnostics for board 50:
2025-04-24 10:36:18 [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 10:36:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:23 ago, cause: software
2025-04-24 10:36:18 [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 10:36:18 [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 10:36:18 [debug] Moves scheduled 6591, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:18 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16620, writes 0 timeouts 0
2025-04-24 10:36:18 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37177
2025-04-24 10:36:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:18 [info] currentZPosition:0.0601
2025-04-24 10:36:19 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:19 [debug] Diagnostics for board 50:
2025-04-24 10:36:19 [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 10:36:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:24 ago, cause: software
2025-04-24 10:36:19 [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 10:36:19 [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 10:36:19 [debug] Moves scheduled 6595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6147, max=17045
Sync err accum 65, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:36:19 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17098, writes 0 timeouts 0
2025-04-24 10:36:19 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37172
2025-04-24 10:36:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8691, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:20 [info] currentZPosition:0.0606
2025-04-24 10:36:21 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:21 [debug] Diagnostics for board 50:
2025-04-24 10:36:21 [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 10:36:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:26 ago, cause: software
2025-04-24 10:36:21 [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 10:36:21 [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 10:36:21 [debug] Moves scheduled 6599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 67, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:21 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16487, writes 0 timeouts 0
2025-04-24 10:36:21 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37179
2025-04-24 10:36:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8682, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:21 [info] currentZPosition:0.0608
2025-04-24 10:36:22 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:22 [debug] Diagnostics for board 50:
2025-04-24 10:36:22 [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 10:36:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:27 ago, cause: software
2025-04-24 10:36:22 [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 10:36:22 [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 10:36:22 [debug] Moves scheduled 6603, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 75, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:22 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17227, writes 0 timeouts 0
2025-04-24 10:36:22 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36110/37173
2025-04-24 10:36:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8674, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:22 [info] currentZPosition:0.0609
2025-04-24 10:36:23 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:23 [debug] Diagnostics for board 50:
2025-04-24 10:36:23 [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 10:36:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:28 ago, cause: software
2025-04-24 10:36:23 [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 10:36:23 [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 10:36:23 [debug] Moves scheduled 6607, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 85, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:23 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16566, writes 0 timeouts 0
2025-04-24 10:36:23 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36283/37174
2025-04-24 10:36:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:24 [info] currentZPosition:0.0612
2025-04-24 10:36:25 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:25 [debug] Diagnostics for board 50:
2025-04-24 10:36:25 [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 10:36:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:30 ago, cause: software
2025-04-24 10:36:25 [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 10:36:25 [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 10:36:25 [debug] Moves scheduled 6611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=642, max=17857
Sync err accum 89, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:36:25 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17491, writes 11 timeouts 1
2025-04-24 10:36:25 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36091/37176
2025-04-24 10:36:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:25 [info] currentZPosition:0.0598
2025-04-24 10:36:25 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:27 [debug] Stopped at height 0.059 mm
2025-04-24 10:36:27 [debug] Diagnostics for board 50:
2025-04-24 10:36:27 [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 10:36:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:31 ago, cause: software
2025-04-24 10:36:27 [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 10:36:27 [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 10:36:27 [debug] Moves scheduled 6617, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
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 4294933810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:27 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20827, writes 0 timeouts 0
2025-04-24 10:36:27 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37176
2025-04-24 10:36:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:27 [info] currentZPosition:0.0587
2025-04-24 10:36:27 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:28 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:28 [debug] Diagnostics for board 50:
2025-04-24 10:36:28 [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 10:36:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:33 ago, cause: software
2025-04-24 10:36:28 [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 10:36:28 [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 10:36:28 [debug] Moves scheduled 6623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:28 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20249, writes 0 timeouts 0
2025-04-24 10:36:28 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37178
2025-04-24 10:36:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:28 [info] currentZPosition:0.0614
2025-04-24 10:36:30 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:30 [debug] Diagnostics for board 50:
2025-04-24 10:36:30 [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 10:36:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:34 ago, cause: software
2025-04-24 10:36:30 [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 10:36:30 [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 10:36:30 [debug] Moves scheduled 6627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 88, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:30 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16648, writes 0 timeouts 0
2025-04-24 10:36:30 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36400/37175
2025-04-24 10:36:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:30 [info] currentZPosition:0.0613
2025-04-24 10:36:31 [debug] Stopped at height 0.062 mm
2025-04-24 10:36:31 [debug] Diagnostics for board 50:
2025-04-24 10:36:31 [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 10:36:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:36 ago, cause: software
2025-04-24 10:36:31 [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 10:36:31 [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 10:36:31 [debug] Moves scheduled 6631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6944, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934027 ticks, disabled
VIN voltage: min 24.3, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:31 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16835, writes 0 timeouts 0
2025-04-24 10:36:31 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37177
2025-04-24 10:36:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8609, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:31 [info] currentZPosition:0.0624
2025-04-24 10:36:32 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:32 [debug] Diagnostics for board 50:
2025-04-24 10:36:32 [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 10:36:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:37 ago, cause: software
2025-04-24 10:36:32 [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 10:36:32 [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 10:36:32 [debug] Moves scheduled 6635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 75, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:32 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16938, writes 0 timeouts 0
2025-04-24 10:36:32 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37172
2025-04-24 10:36:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8670, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:32 [info] currentZPosition:0.0613
2025-04-24 10:36:34 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:34 [debug] Diagnostics for board 50:
2025-04-24 10:36:34 [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 10:36:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:38 ago, cause: software
2025-04-24 10:36:34 [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 10:36:34 [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 10:36:34 [debug] Moves scheduled 6639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:34 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17160, writes 0 timeouts 0
2025-04-24 10:36:34 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37177
2025-04-24 10:36:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:34 [info] currentZPosition:0.0613
2025-04-24 10:36:35 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:35 [debug] Diagnostics for board 50:
2025-04-24 10:36:35 [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 10:36:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:40 ago, cause: software
2025-04-24 10:36:35 [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 10:36:35 [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 10:36:35 [debug] Moves scheduled 6643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6756, max=17045
Sync err accum 61, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:35 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16584, writes 0 timeouts 0
2025-04-24 10:36:35 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37180
2025-04-24 10:36:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:35 [info] currentZPosition:0.0614
2025-04-24 10:36:36 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:36 [debug] Diagnostics for board 50:
2025-04-24 10:36:36 [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 10:36:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:41 ago, cause: software
2025-04-24 10:36:36 [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 10:36:36 [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 10:36:36 [debug] Moves scheduled 6647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter 2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:36 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17202, writes 0 timeouts 0
2025-04-24 10:36:36 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37170
2025-04-24 10:36:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:36 [info] currentZPosition:0.0612
2025-04-24 10:36:38 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:38 [debug] Diagnostics for board 50:
2025-04-24 10:36:38 [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 10:36:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:42 ago, cause: software
2025-04-24 10:36:38 [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 10:36:38 [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 10:36:38 [debug] Moves scheduled 6651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 85, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:38 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16867, writes 0 timeouts 0
2025-04-24 10:36:38 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36394/37174
2025-04-24 10:36:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:38 [info] currentZPosition:0.0604
2025-04-24 10:36:39 [debug] Stopped at height 0.062 mm
2025-04-24 10:36:39 [debug] Diagnostics for board 50:
2025-04-24 10:36:39 [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 10:36:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:44 ago, cause: software
2025-04-24 10:36:39 [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 10:36:39 [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 10:36:39 [debug] Moves scheduled 6655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5681, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:39 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16655, writes 0 timeouts 0
2025-04-24 10:36:39 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37175
2025-04-24 10:36:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8629, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:39 [info] currentZPosition:0.0620
2025-04-24 10:36:39 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:41 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:41 [debug] Diagnostics for board 50:
2025-04-24 10:36:41 [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 10:36:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:45 ago, cause: software
2025-04-24 10:36:41 [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 10:36:41 [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 10:36:41 [debug] Moves scheduled 6661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:41 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20891, writes 0 timeouts 0
2025-04-24 10:36:41 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37176
2025-04-24 10:36:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8703, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:41 [info] currentZPosition:0.0607
2025-04-24 10:36:42 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:42 [debug] Diagnostics for board 50:
2025-04-24 10:36:42 [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 10:36:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:47 ago, cause: software
2025-04-24 10:36:42 [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 10:36:42 [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 10:36:42 [debug] Moves scheduled 6665, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:42 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17200, writes 0 timeouts 0
2025-04-24 10:36:42 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36096/37175
2025-04-24 10:36:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:42 [info] currentZPosition:0.0606
2025-04-24 10:36:43 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:43 [debug] Diagnostics for board 50:
2025-04-24 10:36:43 [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 10:36:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:48 ago, cause: software
2025-04-24 10:36:43 [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 10:36:43 [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 10:36:43 [debug] Moves scheduled 6669, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 93, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:36:43 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16453, writes 0 timeouts 0
2025-04-24 10:36:43 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37176
2025-04-24 10:36:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:43 [info] currentZPosition:0.0611
2025-04-24 10:36:45 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:45 [debug] Diagnostics for board 50:
2025-04-24 10:36:45 [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 10:36:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:50 ago, cause: software
2025-04-24 10:36:45 [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 10:36:45 [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 10:36:45 [debug] Moves scheduled 6673, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 89, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:45 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17591, writes 0 timeouts 0
2025-04-24 10:36:45 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37175
2025-04-24 10:36:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:45 [info] currentZPosition:0.0598
2025-04-24 10:36:45 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:46 [debug] Stopped at height 0.062 mm
2025-04-24 10:36:46 [debug] Diagnostics for board 50:
2025-04-24 10:36:46 [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 10:36:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:51 ago, cause: software
2025-04-24 10:36:46 [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 10:36:46 [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 10:36:46 [debug] Moves scheduled 6679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:46 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 19789, writes 0 timeouts 0
2025-04-24 10:36:46 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37177
2025-04-24 10:36:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8641, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:46 [info] currentZPosition:0.0620
2025-04-24 10:36:48 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:48 [debug] Diagnostics for board 50:
2025-04-24 10:36:48 [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 10:36:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:53 ago, cause: software
2025-04-24 10:36:48 [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 10:36:48 [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 10:36:48 [debug] Moves scheduled 6683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6756, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:36:48 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17464, writes 0 timeouts 0
2025-04-24 10:36:48 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37175
2025-04-24 10:36:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8692, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:48 [info] currentZPosition:0.0611
2025-04-24 10:36:49 [debug] Stopped at height 0.060 mm
2025-04-24 10:36:49 [debug] Diagnostics for board 50:
2025-04-24 10:36:49 [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 10:36:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:54 ago, cause: software
2025-04-24 10:36:49 [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 10:36:49 [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 10:36:49 [debug] Moves scheduled 6687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6637, max=17045
Sync err accum 63, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:36:49 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16900, writes 0 timeouts 0
2025-04-24 10:36:49 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36401/37176
2025-04-24 10:36:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:49 [info] currentZPosition:0.0604
2025-04-24 10:36:50 [debug] Stopped at height 0.062 mm
2025-04-24 10:36:50 [debug] Diagnostics for board 50:
2025-04-24 10:36:50 [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 10:36:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:55 ago, cause: software
2025-04-24 10:36:50 [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 10:36:50 [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 10:36:50 [debug] Moves scheduled 6691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 69, peak jitter -1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:50 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16787, writes 0 timeouts 0
2025-04-24 10:36:50 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37178
2025-04-24 10:36:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8668, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:51 [info] currentZPosition:0.0616
2025-04-24 10:36:52 [debug] Stopped at height 0.057 mm
2025-04-24 10:36:52 [debug] Diagnostics for board 50:
2025-04-24 10:36:52 [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 10:36:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:57 ago, cause: software
2025-04-24 10:36:52 [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 10:36:52 [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 10:36:52 [debug] Moves scheduled 6695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 79, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:52 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17917, writes 0 timeouts 0
2025-04-24 10:36:52 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37176
2025-04-24 10:36:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:52 [info] currentZPosition:0.0575
2025-04-24 10:36:52 [debug] Stopped at height 0.058 mm
2025-04-24 10:36:53 [debug] Stopped at height 0.062 mm
2025-04-24 10:36:53 [debug] Diagnostics for board 50:
2025-04-24 10:36:53 [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 10:36:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:38:58 ago, cause: software
2025-04-24 10:36:53 [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 10:36:53 [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 10:36:53 [debug] Moves scheduled 6701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6250, max=18292
Sync err accum 90, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:53 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 19752, writes 0 timeouts 0
2025-04-24 10:36:53 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36092/37175
2025-04-24 10:36:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:54 [info] currentZPosition:0.0616
2025-04-24 10:36:54 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:55 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:55 [debug] Diagnostics for board 50:
2025-04-24 10:36:55 [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 10:36:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:39:00 ago, cause: software
2025-04-24 10:36:55 [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 10:36:55 [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 10:36:55 [debug] Moves scheduled 6707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:55 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20859, writes 0 timeouts 0
2025-04-24 10:36:55 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37176
2025-04-24 10:36:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:55 [info] currentZPosition:0.0607
2025-04-24 10:36:56 [debug] Stopped at height 0.062 mm
2025-04-24 10:36:56 [debug] Diagnostics for board 50:
2025-04-24 10:36:56 [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 10:36:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:01 ago, cause: software
2025-04-24 10:36:56 [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 10:36:56 [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 10:36:56 [debug] Moves scheduled 6711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 97, peak jitter -1/1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:56 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16911, writes 0 timeouts 0
2025-04-24 10:36:56 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37174
2025-04-24 10:36:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:57 [info] currentZPosition:0.0617
2025-04-24 10:36:58 [debug] Stopped at height 0.062 mm
2025-04-24 10:36:58 [debug] Diagnostics for board 50:
2025-04-24 10:36:58 [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 10:36:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:03 ago, cause: software
2025-04-24 10:36:58 [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 10:36:58 [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 10:36:58 [debug] Moves scheduled 6715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 97, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:36:58 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16497, writes 0 timeouts 0
2025-04-24 10:36:58 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37175
2025-04-24 10:36:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8644, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:58 [info] currentZPosition:0.0622
2025-04-24 10:36:59 [debug] Stopped at height 0.061 mm
2025-04-24 10:36:59 [debug] Diagnostics for board 50:
2025-04-24 10:36:59 [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 10:36:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:04 ago, cause: software
2025-04-24 10:36:59 [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 10:36:59 [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 10:36:59 [debug] Moves scheduled 6719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=491, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:36:59 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17471, writes 11 timeouts 1
2025-04-24 10:36:59 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37177
2025-04-24 10:36:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:36:59 [info] currentZPosition:0.0612
2025-04-24 10:37:01 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:01 [debug] Diagnostics for board 50:
2025-04-24 10:37:01 [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 10:37:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:05 ago, cause: software
2025-04-24 10:37:01 [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 10:37:01 [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 10:37:01 [debug] Moves scheduled 6723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17441
Sync err accum 91, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:01 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16427, writes 0 timeouts 0
2025-04-24 10:37:01 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36403/37177
2025-04-24 10:37:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:01 [info] currentZPosition:0.0618
2025-04-24 10:37:02 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:02 [debug] Diagnostics for board 50:
2025-04-24 10:37:02 [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 10:37:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:07 ago, cause: software
2025-04-24 10:37:02 [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 10:37:02 [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 10:37:02 [debug] Moves scheduled 6727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 82, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:02 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17388, writes 0 timeouts 0
2025-04-24 10:37:02 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37178
2025-04-24 10:37:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8711, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:02 [info] currentZPosition:0.0610
2025-04-24 10:37:03 [debug] Stopped at height 0.060 mm
2025-04-24 10:37:03 [debug] Diagnostics for board 50:
2025-04-24 10:37:03 [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 10:37:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:08 ago, cause: software
2025-04-24 10:37:03 [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 10:37:03 [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 10:37:03 [debug] Moves scheduled 6731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
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 4294933341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:03 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16898, writes 0 timeouts 0
2025-04-24 10:37:03 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36403/37179
2025-04-24 10:37:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:03 [info] currentZPosition:0.0603
2025-04-24 10:37:05 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:05 [debug] Diagnostics for board 50:
2025-04-24 10:37:05 [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 10:37:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:09 ago, cause: software
2025-04-24 10:37:05 [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 10:37:05 [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 10:37:05 [debug] Moves scheduled 6735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294926255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:05 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16840, writes 0 timeouts 0
2025-04-24 10:37:05 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 10:37:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:05 [info] currentZPosition:0.0618
2025-04-24 10:37:05 [debug] Stopped at height 0.060 mm
2025-04-24 10:37:06 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:06 [debug] Diagnostics for board 50:
2025-04-24 10:37:06 [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 10:37:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:11 ago, cause: software
2025-04-24 10:37:06 [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 10:37:06 [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 10:37:06 [debug] Moves scheduled 6741, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 70, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:06 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20708, writes 0 timeouts 0
2025-04-24 10:37:06 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36401/37176
2025-04-24 10:37:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:06 [info] currentZPosition:0.0610
2025-04-24 10:37:08 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:08 [debug] Diagnostics for board 50:
2025-04-24 10:37:08 [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 10:37:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:12 ago, cause: software
2025-04-24 10:37:08 [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 10:37:08 [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 10:37:08 [debug] Moves scheduled 6745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 80, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:08 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16785, writes 0 timeouts 0
2025-04-24 10:37:08 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37171
2025-04-24 10:37:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8647, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:08 [info] currentZPosition:0.0623
2025-04-24 10:37:08 [debug] Stopped at height 0.059 mm
2025-04-24 10:37:08 [debug] Stopped at height 0.059 mm
2025-04-24 10:37:10 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:10 [debug] Diagnostics for board 50:
2025-04-24 10:37:10 [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 10:37:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:14 ago, cause: software
2025-04-24 10:37:10 [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 10:37:10 [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 10:37:10 [debug] Moves scheduled 6753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6521, max=18292
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:10 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 24695, writes 0 timeouts 0
2025-04-24 10:37:10 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36399/37177
2025-04-24 10:37:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:10 [info] currentZPosition:0.0622
2025-04-24 10:37:10 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:11 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:11 [debug] Diagnostics for board 50:
2025-04-24 10:37:11 [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 10:37:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:16 ago, cause: software
2025-04-24 10:37:11 [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 10:37:11 [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 10:37:11 [debug] Moves scheduled 6759, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
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 4294936607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:11 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 21044, writes 0 timeouts 0
2025-04-24 10:37:11 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36101/37174
2025-04-24 10:37:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8669, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:11 [info] currentZPosition:0.0621
2025-04-24 10:37:13 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:13 [debug] Diagnostics for board 50:
2025-04-24 10:37:13 [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 10:37:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:17 ago, cause: software
2025-04-24 10:37:13 [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 10:37:13 [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 10:37:13 [debug] Moves scheduled 6763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 93, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:13 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16849, writes 0 timeouts 0
2025-04-24 10:37:13 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36401/37177
2025-04-24 10:37:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8710, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:13 [info] currentZPosition:0.0614
2025-04-24 10:37:14 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:14 [debug] Diagnostics for board 50:
2025-04-24 10:37:14 [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 10:37:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:19 ago, cause: software
2025-04-24 10:37:14 [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 10:37:14 [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 10:37:14 [debug] Moves scheduled 6767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=5952, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:14 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17263, writes 0 timeouts 0
2025-04-24 10:37:14 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 10:37:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:14 [info] currentZPosition:0.0614
2025-04-24 10:37:15 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:15 [debug] Diagnostics for board 50:
2025-04-24 10:37:15 [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 10:37:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:20 ago, cause: software
2025-04-24 10:37:15 [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 10:37:15 [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 10:37:15 [debug] Moves scheduled 6771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=18292
Sync err accum 85, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:15 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16311, writes 0 timeouts 0
2025-04-24 10:37:15 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37176
2025-04-24 10:37:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:15 [info] currentZPosition:0.0624
2025-04-24 10:37:17 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:17 [debug] Diagnostics for board 50:
2025-04-24 10:37:17 [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 10:37:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:21 ago, cause: software
2025-04-24 10:37:17 [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 10:37:17 [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 10:37:17 [debug] Moves scheduled 6775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:17 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17388, writes 0 timeouts 0
2025-04-24 10:37:17 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37177
2025-04-24 10:37:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8700, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:17 [info] currentZPosition:0.0617
2025-04-24 10:37:18 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:18 [debug] Diagnostics for board 50:
2025-04-24 10:37:18 [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 10:37:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:23 ago, cause: software
2025-04-24 10:37:18 [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 10:37:18 [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 10:37:18 [debug] Moves scheduled 6779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:18 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16593, writes 0 timeouts 0
2025-04-24 10:37:18 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36288/37178
2025-04-24 10:37:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:18 [info] currentZPosition:0.0618
2025-04-24 10:37:19 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:19 [debug] Diagnostics for board 50:
2025-04-24 10:37:19 [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 10:37:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:24 ago, cause: software
2025-04-24 10:37:19 [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 10:37:19 [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 10:37:19 [debug] Moves scheduled 6783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:19 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17494, writes 0 timeouts 0
2025-04-24 10:37:19 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37177
2025-04-24 10:37:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:19 [info] currentZPosition:0.0609
2025-04-24 10:37:21 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:21 [debug] Diagnostics for board 50:
2025-04-24 10:37:21 [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 10:37:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:26 ago, cause: software
2025-04-24 10:37:21 [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 10:37:21 [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 10:37:21 [debug] Moves scheduled 6787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6637, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:21 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16400, writes 0 timeouts 0
2025-04-24 10:37:21 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37171
2025-04-24 10:37:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8703, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:21 [info] currentZPosition:0.0616
2025-04-24 10:37:22 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:22 [debug] Diagnostics for board 50:
2025-04-24 10:37:22 [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 10:37:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:27 ago, cause: software
2025-04-24 10:37:22 [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 10:37:22 [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 10:37:22 [debug] Moves scheduled 6791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 80, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:22 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17095, writes 0 timeouts 0
2025-04-24 10:37:22 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36093/37175
2025-04-24 10:37:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:22 [info] currentZPosition:0.0618
2025-04-24 10:37:23 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:23 [debug] Diagnostics for board 50:
2025-04-24 10:37:23 [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 10:37:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:28 ago, cause: software
2025-04-24 10:37:23 [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 10:37:23 [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 10:37:23 [debug] Moves scheduled 6795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:23 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16753, writes 0 timeouts 0
2025-04-24 10:37:23 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36161/37174
2025-04-24 10:37:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:24 [info] currentZPosition:0.0614
2025-04-24 10:37:25 [debug] Stopped at height 0.060 mm
2025-04-24 10:37:25 [debug] Diagnostics for board 50:
2025-04-24 10:37:25 [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 10:37:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:30 ago, cause: software
2025-04-24 10:37:25 [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 10:37:25 [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 10:37:25 [debug] Moves scheduled 6799, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:25 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17687, writes 0 timeouts 0
2025-04-24 10:37:25 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 10:37:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:25 [info] currentZPosition:0.0599
2025-04-24 10:37:25 [debug] Stopped at height 0.060 mm
2025-04-24 10:37:26 [debug] Stopped at height 0.060 mm
2025-04-24 10:37:26 [debug] Diagnostics for board 50:
2025-04-24 10:37:26 [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 10:37:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:31 ago, cause: software
2025-04-24 10:37:26 [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 10:37:26 [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 10:37:26 [debug] Moves scheduled 6805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:26 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20421, writes 0 timeouts 0
2025-04-24 10:37:26 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36159/37176
2025-04-24 10:37:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:27 [info] currentZPosition:0.0602
2025-04-24 10:37:28 [debug] Stopped at height 0.059 mm
2025-04-24 10:37:28 [debug] Diagnostics for board 50:
2025-04-24 10:37:28 [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 10:37:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:33 ago, cause: software
2025-04-24 10:37:28 [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 10:37:28 [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 10:37:28 [debug] Moves scheduled 6809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 84, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:28 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17420, writes 0 timeouts 0
2025-04-24 10:37:28 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37177
2025-04-24 10:37:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:28 [info] currentZPosition:0.0594
2025-04-24 10:37:29 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:29 [debug] Diagnostics for board 50:
2025-04-24 10:37:29 [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 10:37:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:34 ago, cause: software
2025-04-24 10:37:29 [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 10:37:29 [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 10:37:29 [debug] Moves scheduled 6813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294886621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:29 [debug] Driver 0: pos -3434, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 16468, writes 0 timeouts 0
2025-04-24 10:37:29 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37178
2025-04-24 10:37:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8677, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:29 [info] currentZPosition:0.0622
2025-04-24 10:37:30 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:31 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:31 [debug] Diagnostics for board 50:
2025-04-24 10:37:31 [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 10:37:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:36 ago, cause: software
2025-04-24 10:37:31 [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 10:37:31 [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 10:37:31 [debug] Moves scheduled 6819, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:31 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21558, writes 0 timeouts 0
2025-04-24 10:37:31 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36099/37176
2025-04-24 10:37:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:31 [info] currentZPosition:0.0609
2025-04-24 10:37:32 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:32 [debug] Diagnostics for board 50:
2025-04-24 10:37:32 [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 10:37:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:37 ago, cause: software
2025-04-24 10:37:32 [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 10:37:32 [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 10:37:32 [debug] Moves scheduled 6823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:32 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16173, writes 0 timeouts 0
2025-04-24 10:37:32 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36156/37178
2025-04-24 10:37:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:32 [info] currentZPosition:0.0624
2025-04-24 10:37:33 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:34 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:34 [debug] Diagnostics for board 50:
2025-04-24 10:37:34 [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 10:37:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:39 ago, cause: software
2025-04-24 10:37:34 [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 10:37:34 [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 10:37:34 [debug] Moves scheduled 6829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 70, peak jitter -1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:34 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 21618, writes 0 timeouts 0
2025-04-24 10:37:34 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37178
2025-04-24 10:37:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:34 [info] currentZPosition:0.0606
2025-04-24 10:37:35 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:35 [debug] Diagnostics for board 50:
2025-04-24 10:37:35 [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 10:37:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:40 ago, cause: software
2025-04-24 10:37:35 [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 10:37:35 [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 10:37:35 [debug] Moves scheduled 6833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
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 4294936416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:35 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16346, writes 0 timeouts 0
2025-04-24 10:37:35 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37173
2025-04-24 10:37:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:35 [info] currentZPosition:0.0613
2025-04-24 10:37:37 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:37 [debug] Diagnostics for board 50:
2025-04-24 10:37:37 [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 10:37:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:41 ago, cause: software
2025-04-24 10:37:37 [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 10:37:37 [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 10:37:37 [debug] Moves scheduled 6837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:37 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16757, writes 0 timeouts 0
2025-04-24 10:37:37 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36110/37174
2025-04-24 10:37:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:37 [info] currentZPosition:0.0625
2025-04-24 10:37:38 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:38 [debug] Diagnostics for board 50:
2025-04-24 10:37:38 [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 10:37:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:43 ago, cause: software
2025-04-24 10:37:38 [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 10:37:38 [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 10:37:38 [debug] Moves scheduled 6841, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5725, max=17045
Sync err accum 93, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:38 [debug] Driver 0: pos -3426, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16379, writes 0 timeouts 0
2025-04-24 10:37:38 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37174
2025-04-24 10:37:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8634, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:38 [info] currentZPosition:0.0632
2025-04-24 10:37:39 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:39 [debug] Diagnostics for board 50:
2025-04-24 10:37:39 [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 10:37:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:44 ago, cause: software
2025-04-24 10:37:39 [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 10:37:39 [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 10:37:39 [debug] Moves scheduled 6845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 95, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:39 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17583, writes 0 timeouts 0
2025-04-24 10:37:39 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37175
2025-04-24 10:37:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8691, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:39 [info] currentZPosition:0.0621
2025-04-24 10:37:41 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:41 [debug] Diagnostics for board 50:
2025-04-24 10:37:41 [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 10:37:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:45 ago, cause: software
2025-04-24 10:37:41 [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 10:37:41 [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 10:37:41 [debug] Moves scheduled 6849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 96, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:41 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16816, writes 0 timeouts 0
2025-04-24 10:37:41 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36152/37176
2025-04-24 10:37:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:41 [info] currentZPosition:0.0612
2025-04-24 10:37:42 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:42 [debug] Diagnostics for board 50:
2025-04-24 10:37:42 [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 10:37:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:47 ago, cause: software
2025-04-24 10:37:42 [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 10:37:42 [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 10:37:42 [debug] Moves scheduled 6853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=5769, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:42 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17185, writes 0 timeouts 0
2025-04-24 10:37:42 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37173
2025-04-24 10:37:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:42 [info] currentZPosition:0.0611
2025-04-24 10:37:43 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:43 [debug] Diagnostics for board 50:
2025-04-24 10:37:43 [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 10:37:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:48 ago, cause: software
2025-04-24 10:37:43 [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 10:37:43 [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 10:37:43 [debug] Moves scheduled 6857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 94, peak jitter 0/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:43 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16125, writes 0 timeouts 0
2025-04-24 10:37:43 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37176
2025-04-24 10:37:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8668, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:43 [info] currentZPosition:0.0627
2025-04-24 10:37:44 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:45 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:45 [debug] Diagnostics for board 50:
2025-04-24 10:37:45 [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 10:37:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:50 ago, cause: software
2025-04-24 10:37:45 [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 10:37:45 [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 10:37:45 [debug] Moves scheduled 6863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 84, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:45 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 21287, writes 0 timeouts 0
2025-04-24 10:37:45 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37178
2025-04-24 10:37:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:45 [info] currentZPosition:0.0620
2025-04-24 10:37:46 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:46 [debug] Diagnostics for board 50:
2025-04-24 10:37:46 [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 10:37:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:51 ago, cause: software
2025-04-24 10:37:46 [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 10:37:46 [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 10:37:46 [debug] Moves scheduled 6867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:46 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16493, writes 0 timeouts 0
2025-04-24 10:37:46 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37177
2025-04-24 10:37:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:46 [info] currentZPosition:0.0623
2025-04-24 10:37:48 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:48 [debug] Diagnostics for board 50:
2025-04-24 10:37:48 [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 10:37:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:53 ago, cause: software
2025-04-24 10:37:48 [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 10:37:48 [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 10:37:48 [debug] Moves scheduled 6871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=507, max=17441
Sync err accum 66, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:48 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17251, writes 11 timeouts 1
2025-04-24 10:37:48 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37178
2025-04-24 10:37:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:48 [info] currentZPosition:0.0621
2025-04-24 10:37:49 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:49 [debug] Diagnostics for board 50:
2025-04-24 10:37:49 [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 10:37:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:54 ago, cause: software
2025-04-24 10:37:49 [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 10:37:49 [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 10:37:49 [debug] Moves scheduled 6875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:49 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16437, writes 0 timeouts 0
2025-04-24 10:37:49 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36146/37179
2025-04-24 10:37:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8680, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:49 [info] currentZPosition:0.0626
2025-04-24 10:37:51 [debug] Stopped at height 0.060 mm
2025-04-24 10:37:51 [debug] Diagnostics for board 50:
2025-04-24 10:37:51 [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 10:37:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:55 ago, cause: software
2025-04-24 10:37:51 [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 10:37:51 [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 10:37:51 [debug] Moves scheduled 6879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:51 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 18020, writes 0 timeouts 0
2025-04-24 10:37:51 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35885/37172
2025-04-24 10:37:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:51 [info] currentZPosition:0.0599
2025-04-24 10:37:51 [debug] Stopped at height 0.059 mm
2025-04-24 10:37:52 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:52 [debug] Diagnostics for board 50:
2025-04-24 10:37:52 [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 10:37:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:57 ago, cause: software
2025-04-24 10:37:52 [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 10:37:52 [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 10:37:52 [debug] Moves scheduled 6885, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=5952, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:52 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 19568, writes 0 timeouts 0
2025-04-24 10:37:52 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36161/37174
2025-04-24 10:37:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8658, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:52 [info] currentZPosition:0.0632
2025-04-24 10:37:52 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:54 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:54 [debug] Diagnostics for board 50:
2025-04-24 10:37:54 [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 10:37:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:39:59 ago, cause: software
2025-04-24 10:37:54 [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 10:37:54 [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 10:37:54 [debug] Moves scheduled 6891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6521, max=17045
Sync err accum 93, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:37:54 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 21323, writes 0 timeouts 0
2025-04-24 10:37:54 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 10:37:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:54 [info] currentZPosition:0.0628
2025-04-24 10:37:55 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:55 [debug] Diagnostics for board 50:
2025-04-24 10:37:55 [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 10:37:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:00 ago, cause: software
2025-04-24 10:37:55 [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 10:37:55 [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 10:37:55 [debug] Moves scheduled 6895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:37:55 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17104, writes 0 timeouts 0
2025-04-24 10:37:55 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37176
2025-04-24 10:37:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:55 [info] currentZPosition:0.0611
2025-04-24 10:37:56 [debug] Stopped at height 0.061 mm
2025-04-24 10:37:57 [debug] Stopped at height 0.063 mm
2025-04-24 10:37:57 [debug] Diagnostics for board 50:
2025-04-24 10:37:57 [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 10:37:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:02 ago, cause: software
2025-04-24 10:37:57 [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 10:37:57 [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 10:37:57 [debug] Moves scheduled 6901, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:57 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20580, writes 0 timeouts 0
2025-04-24 10:37:57 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37176
2025-04-24 10:37:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8687, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:57 [info] currentZPosition:0.0628
2025-04-24 10:37:57 [debug] Stopped at height 0.064 mm
2025-04-24 10:37:58 [debug] Stopped at height 0.062 mm
2025-04-24 10:37:58 [debug] Diagnostics for board 50:
2025-04-24 10:37:58 [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 10:37:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:03 ago, cause: software
2025-04-24 10:37:58 [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 10:37:58 [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 10:37:58 [debug] Moves scheduled 6907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:37:58 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20544, writes 0 timeouts 0
2025-04-24 10:37:58 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36169/37179
2025-04-24 10:37:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:37:59 [info] currentZPosition:0.0622
2025-04-24 10:38:00 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:00 [debug] Diagnostics for board 50:
2025-04-24 10:38:00 [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 10:38:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:05 ago, cause: software
2025-04-24 10:38:00 [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 10:38:00 [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 10:38:00 [debug] Moves scheduled 6911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:00 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16729, writes 0 timeouts 0
2025-04-24 10:38:00 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37178
2025-04-24 10:38:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8649, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:00 [info] currentZPosition:0.0636
2025-04-24 10:38:00 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:01 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:01 [debug] Diagnostics for board 50:
2025-04-24 10:38:01 [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 10:38:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:06 ago, cause: software
2025-04-24 10:38:01 [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 10:38:01 [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 10:38:01 [debug] Moves scheduled 6917, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 68, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:01 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20505, writes 0 timeouts 0
2025-04-24 10:38:01 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37176
2025-04-24 10:38:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:01 [info] currentZPosition:0.0634
2025-04-24 10:38:03 [debug] Stopped at height 0.062 mm
2025-04-24 10:38:03 [debug] Diagnostics for board 50:
2025-04-24 10:38:03 [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 10:38:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:08 ago, cause: software
2025-04-24 10:38:03 [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 10:38:03 [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 10:38:03 [debug] Moves scheduled 6921, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6097, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:03 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17548, writes 0 timeouts 0
2025-04-24 10:38:03 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 10:38:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:03 [info] currentZPosition:0.0623
2025-04-24 10:38:04 [debug] Stopped at height 0.062 mm
2025-04-24 10:38:04 [debug] Diagnostics for board 50:
2025-04-24 10:38:04 [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 10:38:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:09 ago, cause: software
2025-04-24 10:38:04 [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 10:38:04 [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 10:38:04 [debug] Moves scheduled 6925, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:04 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16636, writes 0 timeouts 0
2025-04-24 10:38:04 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37175
2025-04-24 10:38:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:04 [info] currentZPosition:0.0623
2025-04-24 10:38:05 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:05 [debug] Diagnostics for board 50:
2025-04-24 10:38:05 [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 10:38:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:10 ago, cause: software
2025-04-24 10:38:05 [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 10:38:05 [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 10:38:05 [debug] Moves scheduled 6929, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:05 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16738, writes 0 timeouts 0
2025-04-24 10:38:05 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37173
2025-04-24 10:38:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8657, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:06 [info] currentZPosition:0.0636
2025-04-24 10:38:06 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:07 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:07 [debug] Diagnostics for board 50:
2025-04-24 10:38:07 [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 10:38:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:12 ago, cause: software
2025-04-24 10:38:07 [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 10:38:07 [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 10:38:07 [debug] Moves scheduled 6935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 86, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:07 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20590, writes 0 timeouts 0
2025-04-24 10:38:07 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37171
2025-04-24 10:38:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8680, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:07 [info] currentZPosition:0.0632
2025-04-24 10:38:09 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:09 [debug] Diagnostics for board 50:
2025-04-24 10:38:09 [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 10:38:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:13 ago, cause: software
2025-04-24 10:38:09 [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 10:38:09 [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 10:38:09 [debug] Moves scheduled 6939, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:09 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17072, writes 0 timeouts 0
2025-04-24 10:38:09 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37175
2025-04-24 10:38:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8668, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:09 [info] currentZPosition:0.0636
2025-04-24 10:38:10 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:10 [debug] Diagnostics for board 50:
2025-04-24 10:38:10 [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 10:38:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:15 ago, cause: software
2025-04-24 10:38:10 [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 10:38:10 [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 10:38:10 [debug] Moves scheduled 6943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:10 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16924, writes 0 timeouts 0
2025-04-24 10:38:10 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37177
2025-04-24 10:38:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:10 [info] currentZPosition:0.0625
2025-04-24 10:38:11 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:11 [debug] Diagnostics for board 50:
2025-04-24 10:38:11 [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 10:38:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:16 ago, cause: software
2025-04-24 10:38:11 [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 10:38:11 [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 10:38:11 [debug] Moves scheduled 6947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17857
Sync err accum 87, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:11 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16803, writes 0 timeouts 0
2025-04-24 10:38:11 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37176
2025-04-24 10:38:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8669, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:11 [info] currentZPosition:0.0637
2025-04-24 10:38:13 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:13 [debug] Diagnostics for board 50:
2025-04-24 10:38:13 [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 10:38:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:17 ago, cause: software
2025-04-24 10:38:13 [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 10:38:13 [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 10:38:13 [debug] Moves scheduled 6951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=18292
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:13 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16905, writes 0 timeouts 0
2025-04-24 10:38:13 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36283/37176
2025-04-24 10:38:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:13 [info] currentZPosition:0.0627
2025-04-24 10:38:14 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:14 [debug] Diagnostics for board 50:
2025-04-24 10:38:14 [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 10:38:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:19 ago, cause: software
2025-04-24 10:38:14 [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 10:38:14 [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 10:38:14 [debug] Moves scheduled 6955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:14 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16988, writes 0 timeouts 0
2025-04-24 10:38:14 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 10:38:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8679, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:14 [info] currentZPosition:0.0634
2025-04-24 10:38:15 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:15 [debug] Diagnostics for board 50:
2025-04-24 10:38:15 [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 10:38:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:20 ago, cause: software
2025-04-24 10:38:15 [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 10:38:15 [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 10:38:15 [debug] Moves scheduled 6959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 62, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:15 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16435, writes 0 timeouts 0
2025-04-24 10:38:15 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36396/37177
2025-04-24 10:38:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8656, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:15 [info] currentZPosition:0.0639
2025-04-24 10:38:17 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:17 [debug] Diagnostics for board 50:
2025-04-24 10:38:17 [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 10:38:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:21 ago, cause: software
2025-04-24 10:38:17 [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 10:38:17 [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 10:38:17 [debug] Moves scheduled 6963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 65, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:17 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17410, writes 0 timeouts 0
2025-04-24 10:38:17 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37176
2025-04-24 10:38:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:17 [info] currentZPosition:0.0631
2025-04-24 10:38:18 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:18 [debug] Diagnostics for board 50:
2025-04-24 10:38:18 [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 10:38:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:23 ago, cause: software
2025-04-24 10:38:18 [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 10:38:18 [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 10:38:18 [debug] Moves scheduled 6967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:18 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16480, writes 0 timeouts 0
2025-04-24 10:38:18 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36397/37174
2025-04-24 10:38:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8671, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:18 [info] currentZPosition:0.0636
2025-04-24 10:38:19 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:19 [debug] Diagnostics for board 50:
2025-04-24 10:38:19 [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 10:38:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:24 ago, cause: software
2025-04-24 10:38:19 [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 10:38:19 [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 10:38:19 [debug] Moves scheduled 6971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17441
Sync err accum 69, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:19 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17364, writes 0 timeouts 0
2025-04-24 10:38:19 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36094/37175
2025-04-24 10:38:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8695, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:19 [info] currentZPosition:0.0631
2025-04-24 10:38:21 [debug] Stopped at height 0.061 mm
2025-04-24 10:38:21 [debug] Diagnostics for board 50:
2025-04-24 10:38:21 [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 10:38:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:26 ago, cause: software
2025-04-24 10:38:21 [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 10:38:21 [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 10:38:21 [debug] Moves scheduled 6975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17857
Sync err accum 70, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:21 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17193, writes 0 timeouts 0
2025-04-24 10:38:21 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37176
2025-04-24 10:38:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:21 [info] currentZPosition:0.0612
2025-04-24 10:38:21 [debug] Stopped at height 0.062 mm
2025-04-24 10:38:22 [debug] Stopped at height 0.062 mm
2025-04-24 10:38:22 [debug] Diagnostics for board 50:
2025-04-24 10:38:22 [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 10:38:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:27 ago, cause: software
2025-04-24 10:38:22 [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 10:38:22 [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 10:38:22 [debug] Moves scheduled 6981, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6637, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:22 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20733, writes 0 timeouts 0
2025-04-24 10:38:22 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36106/37177
2025-04-24 10:38:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:22 [info] currentZPosition:0.0623
2025-04-24 10:38:24 [debug] Stopped at height 0.062 mm
2025-04-24 10:38:24 [debug] Diagnostics for board 50:
2025-04-24 10:38:24 [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 10:38:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:29 ago, cause: software
2025-04-24 10:38:24 [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 10:38:24 [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 10:38:24 [debug] Moves scheduled 6985, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:24 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16783, writes 0 timeouts 0
2025-04-24 10:38:24 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37175
2025-04-24 10:38:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:24 [info] currentZPosition:0.0618
2025-04-24 10:38:25 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:25 [debug] Diagnostics for board 50:
2025-04-24 10:38:25 [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 10:38:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:30 ago, cause: software
2025-04-24 10:38:25 [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 10:38:25 [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 10:38:25 [debug] Moves scheduled 6989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:25 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16722, writes 0 timeouts 0
2025-04-24 10:38:25 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37174
2025-04-24 10:38:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:25 [info] currentZPosition:0.0633
2025-04-24 10:38:25 [debug] Stopped at height 0.061 mm
2025-04-24 10:38:27 [debug] Stopped at height 0.065 mm
2025-04-24 10:38:27 [debug] Diagnostics for board 50:
2025-04-24 10:38:27 [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 10:38:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:31 ago, cause: software
2025-04-24 10:38:27 [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 10:38:27 [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 10:38:27 [debug] Moves scheduled 6995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6097, max=17045
Sync err accum 76, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:27 [debug] Driver 0: pos -3424, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20063, writes 0 timeouts 0
2025-04-24 10:38:27 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36395/37176
2025-04-24 10:38:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8627, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:27 [info] currentZPosition:0.0647
2025-04-24 10:38:27 [debug] Stopped at height 0.065 mm
2025-04-24 10:38:28 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:28 [debug] Diagnostics for board 50:
2025-04-24 10:38:28 [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 10:38:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:33 ago, cause: software
2025-04-24 10:38:28 [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 10:38:28 [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 10:38:28 [debug] Moves scheduled 7001, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=170, frequency (Hz): min=5033, max=17857
Sync err accum 74, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:38:28 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 21465, writes 0 timeouts 0
2025-04-24 10:38:28 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37176
2025-04-24 10:38:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:28 [info] currentZPosition:0.0634
2025-04-24 10:38:30 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:30 [debug] Diagnostics for board 50:
2025-04-24 10:38:30 [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 10:38:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:35 ago, cause: software
2025-04-24 10:38:30 [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 10:38:30 [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 10:38:30 [debug] Moves scheduled 7005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 70, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:30 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16866, writes 0 timeouts 0
2025-04-24 10:38:30 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37169
2025-04-24 10:38:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:30 [info] currentZPosition:0.0626
2025-04-24 10:38:31 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:31 [debug] Diagnostics for board 50:
2025-04-24 10:38:31 [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 10:38:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:36 ago, cause: software
2025-04-24 10:38:31 [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 10:38:31 [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 10:38:31 [debug] Moves scheduled 7009, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 63, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:31 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16813, writes 0 timeouts 0
2025-04-24 10:38:31 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37172
2025-04-24 10:38:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:31 [info] currentZPosition:0.0639
2025-04-24 10:38:31 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:33 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:33 [debug] Diagnostics for board 50:
2025-04-24 10:38:33 [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 10:38:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:38 ago, cause: software
2025-04-24 10:38:33 [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 10:38:33 [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 10:38:33 [debug] Moves scheduled 7015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:33 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20903, writes 0 timeouts 0
2025-04-24 10:38:33 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36394/37176
2025-04-24 10:38:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:33 [info] currentZPosition:0.0625
2025-04-24 10:38:34 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:34 [debug] Diagnostics for board 50:
2025-04-24 10:38:34 [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 10:38:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:39 ago, cause: software
2025-04-24 10:38:34 [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 10:38:34 [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 10:38:34 [debug] Moves scheduled 7019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 79, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:34 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16878, writes 0 timeouts 0
2025-04-24 10:38:34 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37176
2025-04-24 10:38:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:34 [info] currentZPosition:0.0637
2025-04-24 10:38:35 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:35 [debug] Diagnostics for board 50:
2025-04-24 10:38:35 [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 10:38:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:40 ago, cause: software
2025-04-24 10:38:35 [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 10:38:35 [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 10:38:35 [debug] Moves scheduled 7023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:35 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16676, writes 0 timeouts 0
2025-04-24 10:38:35 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37172
2025-04-24 10:38:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:36 [info] currentZPosition:0.0634
2025-04-24 10:38:37 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:37 [debug] Diagnostics for board 50:
2025-04-24 10:38:37 [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 10:38:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:42 ago, cause: software
2025-04-24 10:38:37 [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 10:38:37 [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 10:38:37 [debug] Moves scheduled 7027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=17441
Sync err accum 86, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:37 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17010, writes 0 timeouts 0
2025-04-24 10:38:37 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37172
2025-04-24 10:38:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:37 [info] currentZPosition:0.0639
2025-04-24 10:38:38 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:38 [debug] Diagnostics for board 50:
2025-04-24 10:38:38 [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 10:38:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:43 ago, cause: software
2025-04-24 10:38:38 [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 10:38:38 [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 10:38:38 [debug] Moves scheduled 7031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 86, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:38 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16695, writes 0 timeouts 0
2025-04-24 10:38:38 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37174
2025-04-24 10:38:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:38 [info] currentZPosition:0.0637
2025-04-24 10:38:40 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:40 [debug] Diagnostics for board 50:
2025-04-24 10:38:40 [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 10:38:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:44 ago, cause: software
2025-04-24 10:38:40 [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 10:38:40 [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 10:38:40 [debug] Moves scheduled 7035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6756, max=17857
Sync err accum 86, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:40 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17289, writes 0 timeouts 0
2025-04-24 10:38:40 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37177
2025-04-24 10:38:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:40 [info] currentZPosition:0.0635
2025-04-24 10:38:41 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:41 [debug] Diagnostics for board 50:
2025-04-24 10:38:41 [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 10:38:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:46 ago, cause: software
2025-04-24 10:38:41 [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 10:38:41 [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 10:38:41 [debug] Moves scheduled 7039, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6521, max=17857
Sync err accum 84, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:41 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16777, writes 0 timeouts 0
2025-04-24 10:38:41 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37170
2025-04-24 10:38:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:41 [info] currentZPosition:0.0630
2025-04-24 10:38:42 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:42 [debug] Diagnostics for board 50:
2025-04-24 10:38:42 [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 10:38:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:47 ago, cause: software
2025-04-24 10:38:42 [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 10:38:42 [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 10:38:42 [debug] Moves scheduled 7043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 79, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:42 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16766, writes 0 timeouts 0
2025-04-24 10:38:42 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36098/37178
2025-04-24 10:38:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:42 [info] currentZPosition:0.0643
2025-04-24 10:38:43 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:44 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:44 [debug] Diagnostics for board 50:
2025-04-24 10:38:44 [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 10:38:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:49 ago, cause: software
2025-04-24 10:38:44 [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 10:38:44 [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 10:38:44 [debug] Moves scheduled 7049, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6696, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:38:44 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20610, writes 0 timeouts 0
2025-04-24 10:38:44 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36404/37176
2025-04-24 10:38:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8688, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:44 [info] currentZPosition:0.0639
2025-04-24 10:38:45 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:45 [debug] Diagnostics for board 50:
2025-04-24 10:38:45 [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 10:38:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:50 ago, cause: software
2025-04-24 10:38:45 [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 10:38:45 [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 10:38:45 [debug] Moves scheduled 7053, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17441
Sync err accum 64, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:45 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17496, writes 0 timeouts 0
2025-04-24 10:38:45 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37177
2025-04-24 10:38:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:45 [info] currentZPosition:0.0629
2025-04-24 10:38:47 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:47 [debug] Diagnostics for board 50:
2025-04-24 10:38:47 [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 10:38:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:51 ago, cause: software
2025-04-24 10:38:47 [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 10:38:47 [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 10:38:47 [debug] Moves scheduled 7057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6637, max=17441
Sync err accum 74, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:47 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16342, writes 0 timeouts 0
2025-04-24 10:38:47 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37172
2025-04-24 10:38:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8692, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:47 [info] currentZPosition:0.0638
2025-04-24 10:38:48 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:48 [debug] Diagnostics for board 50:
2025-04-24 10:38:48 [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 10:38:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:53 ago, cause: software
2025-04-24 10:38:48 [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 10:38:48 [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 10:38:48 [debug] Moves scheduled 7061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:48 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17080, writes 0 timeouts 0
2025-04-24 10:38:48 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37174
2025-04-24 10:38:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8675, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:48 [info] currentZPosition:0.0641
2025-04-24 10:38:49 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:49 [debug] Diagnostics for board 50:
2025-04-24 10:38:49 [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 10:38:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:54 ago, cause: software
2025-04-24 10:38:49 [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 10:38:49 [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 10:38:49 [debug] Moves scheduled 7065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 89, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294928855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:49 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16838, writes 0 timeouts 0
2025-04-24 10:38:49 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37176
2025-04-24 10:38:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:49 [info] currentZPosition:0.0635
2025-04-24 10:38:51 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:51 [debug] Diagnostics for board 50:
2025-04-24 10:38:51 [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 10:38:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:55 ago, cause: software
2025-04-24 10:38:51 [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 10:38:51 [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 10:38:51 [debug] Moves scheduled 7069, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:51 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17108, writes 0 timeouts 0
2025-04-24 10:38:51 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36089/37170
2025-04-24 10:38:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:51 [info] currentZPosition:0.0637
2025-04-24 10:38:52 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:52 [debug] Diagnostics for board 50:
2025-04-24 10:38:52 [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 10:38:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:40:57 ago, cause: software
2025-04-24 10:38:52 [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 10:38:52 [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 10:38:52 [debug] Moves scheduled 7073, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:38:52 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16685, writes 0 timeouts 0
2025-04-24 10:38:52 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37175
2025-04-24 10:38:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:52 [info] currentZPosition:0.0633
2025-04-24 10:38:53 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:53 [debug] Diagnostics for board 50:
2025-04-24 10:38:53 [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 10:38:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:58 ago, cause: software
2025-04-24 10:38:53 [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 10:38:53 [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 10:38:53 [debug] Moves scheduled 7077, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:53 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17130, writes 0 timeouts 0
2025-04-24 10:38:53 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37173
2025-04-24 10:38:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:53 [info] currentZPosition:0.0636
2025-04-24 10:38:55 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:55 [debug] Diagnostics for board 50:
2025-04-24 10:38:55 [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 10:38:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:40:59 ago, cause: software
2025-04-24 10:38:55 [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 10:38:55 [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 10:38:55 [debug] Moves scheduled 7081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 90, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:38:55 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16641, writes 0 timeouts 0
2025-04-24 10:38:55 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37173
2025-04-24 10:38:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:55 [info] currentZPosition:0.0638
2025-04-24 10:38:56 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:56 [debug] Diagnostics for board 50:
2025-04-24 10:38:56 [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 10:38:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:01 ago, cause: software
2025-04-24 10:38:56 [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 10:38:56 [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 10:38:56 [debug] Moves scheduled 7085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:56 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17430, writes 0 timeouts 0
2025-04-24 10:38:56 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37175
2025-04-24 10:38:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:56 [info] currentZPosition:0.0628
2025-04-24 10:38:57 [debug] Stopped at height 0.064 mm
2025-04-24 10:38:57 [debug] Diagnostics for board 50:
2025-04-24 10:38:57 [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 10:38:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:02 ago, cause: software
2025-04-24 10:38:57 [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 10:38:57 [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 10:38:57 [debug] Moves scheduled 7089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5725, max=17045
Sync err accum 72, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:57 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16280, writes 0 timeouts 0
2025-04-24 10:38:57 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37177
2025-04-24 10:38:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:57 [info] currentZPosition:0.0639
2025-04-24 10:38:59 [debug] Stopped at height 0.063 mm
2025-04-24 10:38:59 [debug] Diagnostics for board 50:
2025-04-24 10:38:59 [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 10:38:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:04 ago, cause: software
2025-04-24 10:38:59 [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 10:38:59 [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 10:38:59 [debug] Moves scheduled 7093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17857
Sync err accum 62, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:38:59 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17405, writes 0 timeouts 0
2025-04-24 10:38:59 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37177
2025-04-24 10:38:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:38:59 [info] currentZPosition:0.0632
2025-04-24 10:39:00 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:00 [debug] Diagnostics for board 50:
2025-04-24 10:39:00 [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 10:39:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,115) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:05 ago, cause: software
2025-04-24 10:39:00 [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 10:39:00 [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 10:39:00 [debug] Moves scheduled 7097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 67, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:00 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16569, writes 0 timeouts 0
2025-04-24 10:39:00 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37172
2025-04-24 10:39:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:00 [info] currentZPosition:0.0634
2025-04-24 10:39:01 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:01 [debug] Diagnostics for board 50:
2025-04-24 10:39:01 [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 10:39:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:41:06 ago, cause: software
2025-04-24 10:39:01 [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 10:39:01 [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 10:39:01 [debug] Moves scheduled 7101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 72, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:01 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16865, writes 0 timeouts 0
2025-04-24 10:39:01 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37175
2025-04-24 10:39:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8660, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:02 [info] currentZPosition:0.0644
2025-04-24 10:39:03 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:03 [debug] Diagnostics for board 50:
2025-04-24 10:39:03 [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 10:39:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:08 ago, cause: software
2025-04-24 10:39:03 [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 10:39:03 [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 10:39:03 [debug] Moves scheduled 7105, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:03 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16713, writes 0 timeouts 0
2025-04-24 10:39:03 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37176
2025-04-24 10:39:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:03 [info] currentZPosition:0.0641
2025-04-24 10:39:04 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:04 [debug] Diagnostics for board 50:
2025-04-24 10:39:04 [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 10:39:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:09 ago, cause: software
2025-04-24 10:39:04 [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 10:39:04 [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 10:39:04 [debug] Moves scheduled 7109, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:04 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17508, writes 0 timeouts 0
2025-04-24 10:39:04 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36095/37175
2025-04-24 10:39:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:04 [info] currentZPosition:0.0629
2025-04-24 10:39:05 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:05 [debug] Diagnostics for board 50:
2025-04-24 10:39:05 [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 10:39:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:10 ago, cause: software
2025-04-24 10:39:05 [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 10:39:05 [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 10:39:05 [debug] Moves scheduled 7113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 75, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:05 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16302, writes 0 timeouts 0
2025-04-24 10:39:05 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36284/37176
2025-04-24 10:39:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8686, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:06 [info] currentZPosition:0.0640
2025-04-24 10:39:07 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:07 [debug] Diagnostics for board 50:
2025-04-24 10:39:07 [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 10:39:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:12 ago, cause: software
2025-04-24 10:39:07 [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 10:39:07 [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 10:39:07 [debug] Moves scheduled 7117, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6198, max=17441
Sync err accum 70, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:07 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17300, writes 0 timeouts 0
2025-04-24 10:39:07 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36110/37177
2025-04-24 10:39:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:07 [info] currentZPosition:0.0635
2025-04-24 10:39:08 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:08 [debug] Diagnostics for board 50:
2025-04-24 10:39:08 [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 10:39:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:13 ago, cause: software
2025-04-24 10:39:08 [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 10:39:08 [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 10:39:08 [debug] Moves scheduled 7121, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:08 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16650, writes 0 timeouts 0
2025-04-24 10:39:08 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36150/37176
2025-04-24 10:39:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:08 [info] currentZPosition:0.0632
2025-04-24 10:39:10 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:10 [debug] Diagnostics for board 50:
2025-04-24 10:39:10 [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 10:39:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:14 ago, cause: software
2025-04-24 10:39:10 [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 10:39:10 [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 10:39:10 [debug] Moves scheduled 7125, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:10 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17139, writes 0 timeouts 0
2025-04-24 10:39:10 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36108/37178
2025-04-24 10:39:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:10 [info] currentZPosition:0.0634
2025-04-24 10:39:11 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:11 [debug] Diagnostics for board 50:
2025-04-24 10:39:11 [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 10:39:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:16 ago, cause: software
2025-04-24 10:39:11 [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 10:39:11 [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 10:39:11 [debug] Moves scheduled 7129, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:11 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16604, writes 0 timeouts 0
2025-04-24 10:39:11 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37176
2025-04-24 10:39:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:11 [info] currentZPosition:0.0635
2025-04-24 10:39:12 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:12 [debug] Diagnostics for board 50:
2025-04-24 10:39:12 [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 10:39:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:17 ago, cause: software
2025-04-24 10:39:12 [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 10:39:12 [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 10:39:12 [debug] Moves scheduled 7133, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294934956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 10:39:12 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17015, writes 0 timeouts 0
2025-04-24 10:39:12 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37175
2025-04-24 10:39:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:12 [info] currentZPosition:0.0640
2025-04-24 10:39:14 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:14 [debug] Diagnostics for board 50:
2025-04-24 10:39:14 [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 10:39:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:18 ago, cause: software
2025-04-24 10:39:14 [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 10:39:14 [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 10:39:14 [debug] Moves scheduled 7137, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:14 [debug] Driver 0: pos -3427, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16314, writes 0 timeouts 0
2025-04-24 10:39:14 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37175
2025-04-24 10:39:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8642, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:14 [info] currentZPosition:0.0650
2025-04-24 10:39:15 [debug] Stopped at height 0.062 mm
2025-04-24 10:39:15 [debug] Diagnostics for board 50:
2025-04-24 10:39:15 [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 10:39:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:20 ago, cause: software
2025-04-24 10:39:15 [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 10:39:15 [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 10:39:15 [debug] Moves scheduled 7141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 69, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:15 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17965, writes 0 timeouts 0
2025-04-24 10:39:15 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36094/37174
2025-04-24 10:39:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:15 [info] currentZPosition:0.0624
2025-04-24 10:39:15 [debug] Stopped at height 0.061 mm
2025-04-24 10:39:17 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:17 [debug] Diagnostics for board 50:
2025-04-24 10:39:17 [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 10:39:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:21 ago, cause: software
2025-04-24 10:39:17 [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 10:39:17 [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 10:39:17 [debug] Moves scheduled 7147, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5725, max=17045
Sync err accum 73, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:17 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20421, writes 0 timeouts 0
2025-04-24 10:39:17 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36173/37177
2025-04-24 10:39:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:17 [info] currentZPosition:0.0633
2025-04-24 10:39:17 [debug] Stopped at height 0.062 mm
2025-04-24 10:39:18 [debug] Stopped at height 0.066 mm
2025-04-24 10:39:18 [debug] Diagnostics for board 50:
2025-04-24 10:39:18 [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 10:39:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:23 ago, cause: software
2025-04-24 10:39:18 [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 10:39:18 [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 10:39:18 [debug] Moves scheduled 7153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:18 [debug] Driver 0: pos -3421, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20294, writes 0 timeouts 0
2025-04-24 10:39:18 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36110/37174
2025-04-24 10:39:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8610, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:18 [info] currentZPosition:0.0658
2025-04-24 10:39:19 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:20 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:20 [debug] Diagnostics for board 50:
2025-04-24 10:39:20 [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 10:39:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:25 ago, cause: software
2025-04-24 10:39:20 [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 10:39:20 [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 10:39:20 [debug] Moves scheduled 7159, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:20 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21623, writes 0 timeouts 0
2025-04-24 10:39:20 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36164/37176
2025-04-24 10:39:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:20 [info] currentZPosition:0.0626
2025-04-24 10:39:20 [debug] Stopped at height 0.062 mm
2025-04-24 10:39:22 [debug] Stopped at height 0.066 mm
2025-04-24 10:39:22 [debug] Diagnostics for board 50:
2025-04-24 10:39:22 [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 10:39:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:26 ago, cause: software
2025-04-24 10:39:22 [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 10:39:22 [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 10:39:22 [debug] Moves scheduled 7165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:22 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20122, writes 0 timeouts 0
2025-04-24 10:39:22 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37174
2025-04-24 10:39:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8622, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:22 [info] currentZPosition:0.0658
2025-04-24 10:39:22 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:23 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:23 [debug] Diagnostics for board 50:
2025-04-24 10:39:23 [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 10:39:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:28 ago, cause: software
2025-04-24 10:39:23 [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 10:39:23 [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 10:39:23 [debug] Moves scheduled 7171, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:23 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20946, writes 0 timeouts 0
2025-04-24 10:39:23 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37178
2025-04-24 10:39:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8663, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:23 [info] currentZPosition:0.0651
2025-04-24 10:39:25 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:25 [debug] Diagnostics for board 50:
2025-04-24 10:39:25 [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 10:39:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:29 ago, cause: software
2025-04-24 10:39:25 [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 10:39:25 [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 10:39:25 [debug] Moves scheduled 7175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:25 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17623, writes 0 timeouts 0
2025-04-24 10:39:25 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37172
2025-04-24 10:39:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:25 [info] currentZPosition:0.0637
2025-04-24 10:39:25 [debug] Stopped at height 0.062 mm
2025-04-24 10:39:26 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:26 [debug] Diagnostics for board 50:
2025-04-24 10:39:26 [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 10:39:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:31 ago, cause: software
2025-04-24 10:39:26 [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 10:39:26 [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 10:39:26 [debug] Moves scheduled 7181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:26 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20140, writes 0 timeouts 0
2025-04-24 10:39:26 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36163/37175
2025-04-24 10:39:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8661, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:26 [info] currentZPosition:0.0652
2025-04-24 10:39:27 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:28 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:28 [debug] Diagnostics for board 50:
2025-04-24 10:39:28 [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 10:39:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:33 ago, cause: software
2025-04-24 10:39:28 [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 10:39:28 [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 10:39:28 [debug] Moves scheduled 7187, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:28 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 21313, writes 0 timeouts 0
2025-04-24 10:39:28 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37174
2025-04-24 10:39:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:28 [info] currentZPosition:0.0643
2025-04-24 10:39:29 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:29 [debug] Diagnostics for board 50:
2025-04-24 10:39:29 [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 10:39:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:34 ago, cause: software
2025-04-24 10:39:29 [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 10:39:29 [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 10:39:29 [debug] Moves scheduled 7191, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:29 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16423, writes 0 timeouts 0
2025-04-24 10:39:29 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37174
2025-04-24 10:39:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:29 [info] currentZPosition:0.0648
2025-04-24 10:39:31 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:31 [debug] Diagnostics for board 50:
2025-04-24 10:39:31 [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 10:39:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:35 ago, cause: software
2025-04-24 10:39:31 [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 10:39:31 [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 10:39:31 [debug] Moves scheduled 7195, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 66, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:31 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17141, writes 0 timeouts 0
2025-04-24 10:39:31 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37177
2025-04-24 10:39:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8688, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:31 [info] currentZPosition:0.0648
2025-04-24 10:39:32 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:32 [debug] Diagnostics for board 50:
2025-04-24 10:39:32 [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 10:39:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:37 ago, cause: software
2025-04-24 10:39:32 [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 10:39:32 [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 10:39:32 [debug] Moves scheduled 7199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:32 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17280, writes 0 timeouts 0
2025-04-24 10:39:32 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36168/37174
2025-04-24 10:39:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:32 [info] currentZPosition:0.0627
2025-04-24 10:39:32 [debug] Stopped at height 0.062 mm
2025-04-24 10:39:34 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:34 [debug] Diagnostics for board 50:
2025-04-24 10:39:34 [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 10:39:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:39 ago, cause: software
2025-04-24 10:39:34 [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 10:39:34 [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 10:39:34 [debug] Moves scheduled 7205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=108, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:34 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20708, writes 0 timeouts 0
2025-04-24 10:39:34 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37177
2025-04-24 10:39:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:34 [info] currentZPosition:0.0642
2025-04-24 10:39:34 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:35 [debug] Stopped at height 0.063 mm
2025-04-24 10:39:35 [debug] Diagnostics for board 50:
2025-04-24 10:39:35 [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 10:39:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:40 ago, cause: software
2025-04-24 10:39:35 [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 10:39:35 [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 10:39:35 [debug] Moves scheduled 7211, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:35 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20883, writes 0 timeouts 0
2025-04-24 10:39:35 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37177
2025-04-24 10:39:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:35 [info] currentZPosition:0.0630
2025-04-24 10:39:37 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:37 [debug] Diagnostics for board 50:
2025-04-24 10:39:37 [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 10:39:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:42 ago, cause: software
2025-04-24 10:39:37 [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 10:39:37 [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 10:39:37 [debug] Moves scheduled 7215, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 70, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:37 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16473, writes 0 timeouts 0
2025-04-24 10:39:37 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 10:39:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8677, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:37 [info] currentZPosition:0.0653
2025-04-24 10:39:37 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:38 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:38 [debug] Diagnostics for board 50:
2025-04-24 10:39:38 [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 10:39:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:43 ago, cause: software
2025-04-24 10:39:38 [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 10:39:38 [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 10:39:38 [debug] Moves scheduled 7221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:38 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20724, writes 0 timeouts 0
2025-04-24 10:39:38 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36161/37176
2025-04-24 10:39:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:38 [info] currentZPosition:0.0648
2025-04-24 10:39:40 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:40 [debug] Diagnostics for board 50:
2025-04-24 10:39:40 [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 10:39:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:45 ago, cause: software
2025-04-24 10:39:40 [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 10:39:40 [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 10:39:40 [debug] Moves scheduled 7225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 71, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:40 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17181, writes 0 timeouts 0
2025-04-24 10:39:40 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 10:39:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:40 [info] currentZPosition:0.0649
2025-04-24 10:39:41 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:41 [debug] Diagnostics for board 50:
2025-04-24 10:39:41 [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 10:39:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:46 ago, cause: software
2025-04-24 10:39:41 [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 10:39:41 [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 10:39:41 [debug] Moves scheduled 7229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17857
Sync err accum 69, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:41 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16714, writes 0 timeouts 0
2025-04-24 10:39:41 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37175
2025-04-24 10:39:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:41 [info] currentZPosition:0.0645
2025-04-24 10:39:42 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:42 [debug] Diagnostics for board 50:
2025-04-24 10:39:42 [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 10:39:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:47 ago, cause: software
2025-04-24 10:39:42 [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 10:39:42 [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 10:39:42 [debug] Moves scheduled 7233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:42 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17135, writes 0 timeouts 0
2025-04-24 10:39:42 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36097/37175
2025-04-24 10:39:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:43 [info] currentZPosition:0.0644
2025-04-24 10:39:44 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:44 [debug] Diagnostics for board 50:
2025-04-24 10:39:44 [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 10:39:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:49 ago, cause: software
2025-04-24 10:39:44 [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 10:39:44 [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 10:39:44 [debug] Moves scheduled 7237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:44 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16489, writes 0 timeouts 0
2025-04-24 10:39:44 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37175
2025-04-24 10:39:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:44 [info] currentZPosition:0.0648
2025-04-24 10:39:45 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:45 [debug] Diagnostics for board 50:
2025-04-24 10:39:45 [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 10:39:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:50 ago, cause: software
2025-04-24 10:39:45 [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 10:39:45 [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 10:39:45 [debug] Moves scheduled 7241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 84, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:45 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17083, writes 0 timeouts 0
2025-04-24 10:39:45 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37174
2025-04-24 10:39:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:45 [info] currentZPosition:0.0652
2025-04-24 10:39:47 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:47 [debug] Diagnostics for board 50:
2025-04-24 10:39:47 [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 10:39:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:51 ago, cause: software
2025-04-24 10:39:47 [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 10:39:47 [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 10:39:47 [debug] Moves scheduled 7245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5859, max=17857
Sync err accum 88, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:47 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16958, writes 0 timeouts 0
2025-04-24 10:39:47 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37175
2025-04-24 10:39:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:47 [info] currentZPosition:0.0639
2025-04-24 10:39:47 [debug] Stopped at height 0.062 mm
2025-04-24 10:39:48 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:48 [debug] Diagnostics for board 50:
2025-04-24 10:39:48 [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 10:39:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:53 ago, cause: software
2025-04-24 10:39:48 [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 10:39:48 [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 10:39:48 [debug] Moves scheduled 7251, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6637, max=17857
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:48 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20995, writes 0 timeouts 0
2025-04-24 10:39:48 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 10:39:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:48 [info] currentZPosition:0.0648
2025-04-24 10:39:49 [debug] Stopped at height 0.064 mm
2025-04-24 10:39:50 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:50 [debug] Diagnostics for board 50:
2025-04-24 10:39:50 [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 10:39:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:55 ago, cause: software
2025-04-24 10:39:50 [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 10:39:50 [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 10:39:50 [debug] Moves scheduled 7257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:50 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20412, writes 0 timeouts 0
2025-04-24 10:39:50 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37176
2025-04-24 10:39:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:50 [info] currentZPosition:0.0651
2025-04-24 10:39:51 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:51 [debug] Diagnostics for board 50:
2025-04-24 10:39:51 [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 10:39:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:56 ago, cause: software
2025-04-24 10:39:51 [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 10:39:51 [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 10:39:51 [debug] Moves scheduled 7261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=489, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:51 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17215, writes 11 timeouts 1
2025-04-24 10:39:51 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37175
2025-04-24 10:39:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:51 [info] currentZPosition:0.0648
2025-04-24 10:39:53 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:53 [debug] Diagnostics for board 50:
2025-04-24 10:39:53 [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 10:39:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:57 ago, cause: software
2025-04-24 10:39:53 [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 10:39:53 [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 10:39:53 [debug] Moves scheduled 7265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:53 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16574, writes 0 timeouts 0
2025-04-24 10:39:53 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37171
2025-04-24 10:39:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:53 [info] currentZPosition:0.0649
2025-04-24 10:39:54 [debug] Stopped at height 0.066 mm
2025-04-24 10:39:54 [debug] Diagnostics for board 50:
2025-04-24 10:39:54 [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 10:39:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:41:59 ago, cause: software
2025-04-24 10:39:54 [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 10:39:54 [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 10:39:54 [debug] Moves scheduled 7269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:39:54 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16930, writes 0 timeouts 0
2025-04-24 10:39:54 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 10:39:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:54 [info] currentZPosition:0.0657
2025-04-24 10:39:55 [debug] Stopped at height 0.066 mm
2025-04-24 10:39:55 [debug] Diagnostics for board 50:
2025-04-24 10:39:55 [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 10:39:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:00 ago, cause: software
2025-04-24 10:39:55 [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 10:39:55 [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 10:39:55 [debug] Moves scheduled 7273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6521, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:55 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16553, writes 0 timeouts 0
2025-04-24 10:39:55 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37178
2025-04-24 10:39:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8667, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:55 [info] currentZPosition:0.0658
2025-04-24 10:39:57 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:57 [debug] Diagnostics for board 50:
2025-04-24 10:39:57 [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 10:39:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:01 ago, cause: software
2025-04-24 10:39:57 [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 10:39:57 [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 10:39:57 [debug] Moves scheduled 7277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936671 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:39:57 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17435, writes 0 timeouts 0
2025-04-24 10:39:57 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37175
2025-04-24 10:39:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:57 [info] currentZPosition:0.0649
2025-04-24 10:39:58 [debug] Stopped at height 0.065 mm
2025-04-24 10:39:58 [debug] Diagnostics for board 50:
2025-04-24 10:39:58 [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 10:39:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:03 ago, cause: software
2025-04-24 10:39:58 [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 10:39:58 [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 10:39:58 [debug] Moves scheduled 7281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:58 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16515, writes 0 timeouts 0
2025-04-24 10:39:58 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37174
2025-04-24 10:39:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:58 [info] currentZPosition:0.0651
2025-04-24 10:39:59 [debug] Stopped at height 0.066 mm
2025-04-24 10:39:59 [debug] Diagnostics for board 50:
2025-04-24 10:39:59 [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 10:39:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:04 ago, cause: software
2025-04-24 10:39:59 [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 10:39:59 [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 10:39:59 [debug] Moves scheduled 7285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6818, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:39:59 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17017, writes 0 timeouts 0
2025-04-24 10:39:59 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36092/37175
2025-04-24 10:39:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:39:59 [info] currentZPosition:0.0656
2025-04-24 10:40:01 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:01 [debug] Diagnostics for board 50:
2025-04-24 10:40:01 [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 10:40:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:05 ago, cause: software
2025-04-24 10:40:01 [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 10:40:01 [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 10:40:01 [debug] Moves scheduled 7289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:01 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17021, writes 0 timeouts 0
2025-04-24 10:40:01 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36278/37175
2025-04-24 10:40:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:01 [info] currentZPosition:0.0642
2025-04-24 10:40:01 [debug] Stopped at height 0.067 mm
2025-04-24 10:40:02 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:02 [debug] Diagnostics for board 50:
2025-04-24 10:40:02 [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 10:40:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:07 ago, cause: software
2025-04-24 10:40:02 [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 10:40:02 [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 10:40:02 [debug] Moves scheduled 7295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:02 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20538, writes 0 timeouts 0
2025-04-24 10:40:02 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36102/37176
2025-04-24 10:40:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:02 [info] currentZPosition:0.0659
2025-04-24 10:40:04 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:04 [debug] Diagnostics for board 50:
2025-04-24 10:40:04 [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 10:40:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:08 ago, cause: software
2025-04-24 10:40:04 [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 10:40:04 [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 10:40:04 [debug] Moves scheduled 7299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:04 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17138, writes 0 timeouts 0
2025-04-24 10:40:04 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 296, adv 36402/37173
2025-04-24 10:40:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:04 [info] currentZPosition:0.0642
2025-04-24 10:40:04 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:05 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:05 [debug] Diagnostics for board 50:
2025-04-24 10:40:05 [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 10:40:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:10 ago, cause: software
2025-04-24 10:40:05 [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 10:40:05 [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 10:40:05 [debug] Moves scheduled 7305, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 91, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:05 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20562, writes 0 timeouts 0
2025-04-24 10:40:05 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36103/37172
2025-04-24 10:40:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8669, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:05 [info] currentZPosition:0.0660
2025-04-24 10:40:06 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:07 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:07 [debug] Diagnostics for board 50:
2025-04-24 10:40:07 [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 10:40:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:12 ago, cause: software
2025-04-24 10:40:07 [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 10:40:07 [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 10:40:07 [debug] Moves scheduled 7311, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 82, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:07 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20586, writes 0 timeouts 0
2025-04-24 10:40:07 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36396/37178
2025-04-24 10:40:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8683, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:07 [info] currentZPosition:0.0658
2025-04-24 10:40:08 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:08 [debug] Diagnostics for board 50:
2025-04-24 10:40:08 [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 10:40:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:13 ago, cause: software
2025-04-24 10:40:08 [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 10:40:08 [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 10:40:08 [debug] Moves scheduled 7315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 70, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:08 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17552, writes 0 timeouts 0
2025-04-24 10:40:08 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37175
2025-04-24 10:40:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:08 [info] currentZPosition:0.0646
2025-04-24 10:40:10 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:10 [debug] Diagnostics for board 50:
2025-04-24 10:40:10 [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 10:40:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:14 ago, cause: software
2025-04-24 10:40:10 [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 10:40:10 [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 10:40:10 [debug] Moves scheduled 7319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 62, peak jitter -2/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:10 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16493, writes 0 timeouts 0
2025-04-24 10:40:10 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37177
2025-04-24 10:40:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:10 [info] currentZPosition:0.0652
2025-04-24 10:40:11 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:11 [debug] Diagnostics for board 50:
2025-04-24 10:40:11 [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 10:40:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:16 ago, cause: software
2025-04-24 10:40:11 [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 10:40:11 [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 10:40:11 [debug] Moves scheduled 7323, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 75, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935486 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:11 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17215, writes 0 timeouts 0
2025-04-24 10:40:11 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37172
2025-04-24 10:40:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:11 [info] currentZPosition:0.0651
2025-04-24 10:40:12 [debug] Stopped at height 0.063 mm
2025-04-24 10:40:12 [debug] Diagnostics for board 50:
2025-04-24 10:40:12 [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 10:40:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:17 ago, cause: software
2025-04-24 10:40:12 [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 10:40:12 [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 10:40:12 [debug] Moves scheduled 7327, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17857
Sync err accum 83, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:12 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17209, writes 0 timeouts 0
2025-04-24 10:40:12 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37171
2025-04-24 10:40:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:13 [info] currentZPosition:0.0631
2025-04-24 10:40:13 [debug] Stopped at height 0.062 mm
2025-04-24 10:40:14 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:14 [debug] Diagnostics for board 50:
2025-04-24 10:40:14 [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 10:40:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:19 ago, cause: software
2025-04-24 10:40:14 [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 10:40:14 [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 10:40:14 [debug] Moves scheduled 7333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 86, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:14 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20239, writes 0 timeouts 0
2025-04-24 10:40:14 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36104/37176
2025-04-24 10:40:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8663, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:14 [info] currentZPosition:0.0663
2025-04-24 10:40:15 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:15 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:16 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:16 [debug] Diagnostics for board 50:
2025-04-24 10:40:16 [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 10:40:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:21 ago, cause: software
2025-04-24 10:40:16 [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 10:40:16 [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 10:40:16 [debug] Moves scheduled 7341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:16 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 25018, writes 0 timeouts 0
2025-04-24 10:40:16 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 292, adv 36391/37175
2025-04-24 10:40:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:16 [info] currentZPosition:0.0650
2025-04-24 10:40:17 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:17 [debug] Diagnostics for board 50:
2025-04-24 10:40:17 [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 10:40:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:22 ago, cause: software
2025-04-24 10:40:17 [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 10:40:17 [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 10:40:17 [debug] Moves scheduled 7345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6302, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:17 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17232, writes 0 timeouts 0
2025-04-24 10:40:17 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37173
2025-04-24 10:40:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:18 [info] currentZPosition:0.0648
2025-04-24 10:40:19 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:19 [debug] Diagnostics for board 50:
2025-04-24 10:40:19 [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 10:40:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:24 ago, cause: software
2025-04-24 10:40:19 [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 10:40:19 [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 10:40:19 [debug] Moves scheduled 7349, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 89, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:19 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16451, writes 0 timeouts 0
2025-04-24 10:40:19 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37176
2025-04-24 10:40:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:19 [info] currentZPosition:0.0653
2025-04-24 10:40:20 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:20 [debug] Diagnostics for board 50:
2025-04-24 10:40:20 [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 10:40:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:25 ago, cause: software
2025-04-24 10:40:20 [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 10:40:20 [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 10:40:20 [debug] Moves scheduled 7353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:20 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17710, writes 0 timeouts 0
2025-04-24 10:40:20 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37174
2025-04-24 10:40:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:20 [info] currentZPosition:0.0636
2025-04-24 10:40:21 [debug] Stopped at height 0.063 mm
2025-04-24 10:40:22 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:22 [debug] Diagnostics for board 50:
2025-04-24 10:40:22 [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 10:40:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:27 ago, cause: software
2025-04-24 10:40:22 [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 10:40:22 [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 10:40:22 [debug] Moves scheduled 7359, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 75, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:22 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 19876, writes 0 timeouts 0
2025-04-24 10:40:22 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37178
2025-04-24 10:40:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:22 [info] currentZPosition:0.0658
2025-04-24 10:40:22 [debug] Stopped at height 0.068 mm
2025-04-24 10:40:23 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:23 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:24 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:24 [debug] Diagnostics for board 50:
2025-04-24 10:40:24 [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 10:40:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:29 ago, cause: software
2025-04-24 10:40:24 [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 10:40:24 [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 10:40:24 [debug] Moves scheduled 7369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
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 4294936878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:24 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 29531, writes 0 timeouts 0
2025-04-24 10:40:24 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 291, adv 36108/37178
2025-04-24 10:40:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:24 [info] currentZPosition:0.0650
2025-04-24 10:40:25 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:25 [debug] Diagnostics for board 50:
2025-04-24 10:40:25 [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 10:40:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:30 ago, cause: software
2025-04-24 10:40:25 [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 10:40:25 [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 10:40:25 [debug] Moves scheduled 7373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 73, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:25 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16264, writes 0 timeouts 0
2025-04-24 10:40:25 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36393/37173
2025-04-24 10:40:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:26 [info] currentZPosition:0.0661
2025-04-24 10:40:27 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:27 [debug] Diagnostics for board 50:
2025-04-24 10:40:27 [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 10:40:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:32 ago, cause: software
2025-04-24 10:40:27 [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 10:40:27 [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 10:40:27 [debug] Moves scheduled 7377, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
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 4294933897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:27 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17432, writes 0 timeouts 0
2025-04-24 10:40:27 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37173
2025-04-24 10:40:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:27 [info] currentZPosition:0.0653
2025-04-24 10:40:28 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:28 [debug] Diagnostics for board 50:
2025-04-24 10:40:28 [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 10:40:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:33 ago, cause: software
2025-04-24 10:40:28 [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 10:40:28 [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 10:40:28 [debug] Moves scheduled 7381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:28 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16600, writes 0 timeouts 0
2025-04-24 10:40:28 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37173
2025-04-24 10:40:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:28 [info] currentZPosition:0.0654
2025-04-24 10:40:30 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:30 [debug] Diagnostics for board 50:
2025-04-24 10:40:30 [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 10:40:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:34 ago, cause: software
2025-04-24 10:40:30 [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 10:40:30 [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 10:40:30 [debug] Moves scheduled 7385, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6048, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:30 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17355, writes 0 timeouts 0
2025-04-24 10:40:30 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37175
2025-04-24 10:40:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:30 [info] currentZPosition:0.0649
2025-04-24 10:40:31 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:31 [debug] Diagnostics for board 50:
2025-04-24 10:40:31 [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 10:40:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:42:36 ago, cause: software
2025-04-24 10:40:31 [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 10:40:31 [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 10:40:31 [debug] Moves scheduled 7389, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:31 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16506, writes 0 timeouts 0
2025-04-24 10:40:31 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37176
2025-04-24 10:40:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:31 [info] currentZPosition:0.0651
2025-04-24 10:40:32 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:32 [debug] Diagnostics for board 50:
2025-04-24 10:40:32 [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 10:40:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:37 ago, cause: software
2025-04-24 10:40:32 [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 10:40:32 [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 10:40:32 [debug] Moves scheduled 7393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:32 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16990, writes 0 timeouts 0
2025-04-24 10:40:32 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37171
2025-04-24 10:40:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4561, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:32 [info] currentZPosition:0.0658
2025-04-24 10:40:34 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:34 [debug] Diagnostics for board 50:
2025-04-24 10:40:34 [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 10:40:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:38 ago, cause: software
2025-04-24 10:40:34 [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 10:40:34 [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 10:40:34 [debug] Moves scheduled 7397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:34 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16961, writes 0 timeouts 0
2025-04-24 10:40:34 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36404/37177
2025-04-24 10:40:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:34 [info] currentZPosition:0.0647
2025-04-24 10:40:35 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:35 [debug] Diagnostics for board 50:
2025-04-24 10:40:35 [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 10:40:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:40 ago, cause: software
2025-04-24 10:40:35 [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 10:40:35 [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 10:40:35 [debug] Moves scheduled 7401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:35 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17425, writes 0 timeouts 0
2025-04-24 10:40:35 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36113/37176
2025-04-24 10:40:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:35 [info] currentZPosition:0.0637
2025-04-24 10:40:36 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:36 [debug] Diagnostics for board 50:
2025-04-24 10:40:36 [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 10:40:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:41 ago, cause: software
2025-04-24 10:40:36 [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 10:40:36 [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 10:40:36 [debug] Moves scheduled 7405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:40:36 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 15813, writes 0 timeouts 0
2025-04-24 10:40:36 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36407/37175
2025-04-24 10:40:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:36 [info] currentZPosition:0.0663
2025-04-24 10:40:37 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:38 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:38 [debug] Diagnostics for board 50:
2025-04-24 10:40:38 [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 10:40:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:43 ago, cause: software
2025-04-24 10:40:38 [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 10:40:38 [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 10:40:38 [debug] Moves scheduled 7411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6198, max=17045
Sync err accum 71, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:38 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 21405, writes 0 timeouts 0
2025-04-24 10:40:38 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37176
2025-04-24 10:40:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:38 [info] currentZPosition:0.0653
2025-04-24 10:40:39 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:39 [debug] Diagnostics for board 50:
2025-04-24 10:40:39 [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 10:40:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:44 ago, cause: software
2025-04-24 10:40:39 [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 10:40:39 [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 10:40:39 [debug] Moves scheduled 7415, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6250, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:39 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16283, writes 0 timeouts 0
2025-04-24 10:40:39 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37170
2025-04-24 10:40:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:39 [info] currentZPosition:0.0664
2025-04-24 10:40:41 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:41 [debug] Diagnostics for board 50:
2025-04-24 10:40:41 [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 10:40:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:45 ago, cause: software
2025-04-24 10:40:41 [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 10:40:41 [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 10:40:41 [debug] Moves scheduled 7419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:41 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17475, writes 0 timeouts 0
2025-04-24 10:40:41 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37173
2025-04-24 10:40:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:41 [info] currentZPosition:0.0654
2025-04-24 10:40:42 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:42 [debug] Diagnostics for board 50:
2025-04-24 10:40:42 [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 10:40:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:47 ago, cause: software
2025-04-24 10:40:42 [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 10:40:42 [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 10:40:42 [debug] Moves scheduled 7423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6048, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:42 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16623, writes 0 timeouts 0
2025-04-24 10:40:42 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37174
2025-04-24 10:40:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:42 [info] currentZPosition:0.0655
2025-04-24 10:40:43 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:43 [debug] Diagnostics for board 50:
2025-04-24 10:40:43 [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 10:40:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:48 ago, cause: software
2025-04-24 10:40:43 [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 10:40:43 [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 10:40:43 [debug] Moves scheduled 7427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6250, max=17045
Sync err accum 95, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:43 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16951, writes 0 timeouts 0
2025-04-24 10:40:43 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37169
2025-04-24 10:40:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:43 [info] currentZPosition:0.0663
2025-04-24 10:40:45 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:45 [debug] Diagnostics for board 50:
2025-04-24 10:40:45 [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 10:40:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:50 ago, cause: software
2025-04-24 10:40:45 [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 10:40:45 [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 10:40:45 [debug] Moves scheduled 7431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5033, max=17045
Sync err accum 95, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:45 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17026, writes 0 timeouts 0
2025-04-24 10:40:45 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36404/37174
2025-04-24 10:40:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:45 [info] currentZPosition:0.0651
2025-04-24 10:40:46 [debug] Stopped at height 0.067 mm
2025-04-24 10:40:46 [debug] Diagnostics for board 50:
2025-04-24 10:40:46 [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 10:40:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:51 ago, cause: software
2025-04-24 10:40:46 [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 10:40:46 [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 10:40:46 [debug] Moves scheduled 7435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 93, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:46 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16711, writes 0 timeouts 0
2025-04-24 10:40:46 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37170
2025-04-24 10:40:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8676, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:46 [info] currentZPosition:0.0668
2025-04-24 10:40:47 [debug] Stopped at height 0.064 mm
2025-04-24 10:40:48 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:48 [debug] Diagnostics for board 50:
2025-04-24 10:40:48 [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 10:40:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:53 ago, cause: software
2025-04-24 10:40:48 [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 10:40:48 [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 10:40:48 [debug] Moves scheduled 7441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17857
Sync err accum 86, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:48 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20852, writes 0 timeouts 0
2025-04-24 10:40:48 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36397/37176
2025-04-24 10:40:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:48 [info] currentZPosition:0.0657
2025-04-24 10:40:48 [debug] Stopped at height 0.065 mm
2025-04-24 10:40:49 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:49 [debug] Diagnostics for board 50:
2025-04-24 10:40:49 [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 10:40:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:54 ago, cause: software
2025-04-24 10:40:49 [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 10:40:49 [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 10:40:49 [debug] Moves scheduled 7447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=506, max=17045
Sync err accum 77, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:49 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21007, writes 11 timeouts 1
2025-04-24 10:40:49 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37177
2025-04-24 10:40:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:49 [info] currentZPosition:0.0658
2025-04-24 10:40:51 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:51 [debug] Diagnostics for board 50:
2025-04-24 10:40:51 [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 10:40:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:56 ago, cause: software
2025-04-24 10:40:51 [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 10:40:51 [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 10:40:51 [debug] Moves scheduled 7451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=18292
Sync err accum 66, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:40:51 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16474, writes 0 timeouts 0
2025-04-24 10:40:51 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37174
2025-04-24 10:40:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:51 [info] currentZPosition:0.0662
2025-04-24 10:40:52 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:52 [debug] Diagnostics for board 50:
2025-04-24 10:40:52 [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 10:40:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:57 ago, cause: software
2025-04-24 10:40:52 [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 10:40:52 [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 10:40:52 [debug] Moves scheduled 7455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6355, max=18292
Sync err accum 68, peak jitter -3/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:52 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17273, writes 0 timeouts 0
2025-04-24 10:40:52 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37172
2025-04-24 10:40:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:52 [info] currentZPosition:0.0659
2025-04-24 10:40:53 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:53 [debug] Diagnostics for board 50:
2025-04-24 10:40:53 [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 10:40:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:42:58 ago, cause: software
2025-04-24 10:40:53 [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 10:40:53 [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 10:40:53 [debug] Moves scheduled 7459, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:53 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16478, writes 0 timeouts 0
2025-04-24 10:40:53 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36396/37175
2025-04-24 10:40:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8700, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:53 [info] currentZPosition:0.0665
2025-04-24 10:40:55 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:55 [debug] Diagnostics for board 50:
2025-04-24 10:40:55 [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 10:40:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:00 ago, cause: software
2025-04-24 10:40:55 [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 10:40:55 [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 10:40:55 [debug] Moves scheduled 7463, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5952, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:55 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17194, writes 0 timeouts 0
2025-04-24 10:40:55 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37172
2025-04-24 10:40:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:55 [info] currentZPosition:0.0664
2025-04-24 10:40:56 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:56 [debug] Diagnostics for board 50:
2025-04-24 10:40:56 [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 10:40:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:01 ago, cause: software
2025-04-24 10:40:56 [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 10:40:56 [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 10:40:56 [debug] Moves scheduled 7467, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:56 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16608, writes 0 timeouts 0
2025-04-24 10:40:56 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36285/37170
2025-04-24 10:40:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:56 [info] currentZPosition:0.0662
2025-04-24 10:40:58 [debug] Stopped at height 0.066 mm
2025-04-24 10:40:58 [debug] Diagnostics for board 50:
2025-04-24 10:40:58 [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 10:40:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:02 ago, cause: software
2025-04-24 10:40:58 [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 10:40:58 [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 10:40:58 [debug] Moves scheduled 7471, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932410 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:40:58 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17292, writes 0 timeouts 0
2025-04-24 10:40:58 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37176
2025-04-24 10:40:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:58 [info] currentZPosition:0.0659
2025-04-24 10:40:59 [debug] Stopped at height 0.067 mm
2025-04-24 10:40:59 [debug] Diagnostics for board 50:
2025-04-24 10:40:59 [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 10:40:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:04 ago, cause: software
2025-04-24 10:40:59 [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 10:40:59 [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 10:40:59 [debug] Moves scheduled 7475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5681, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:40:59 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16386, writes 0 timeouts 0
2025-04-24 10:40:59 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37176
2025-04-24 10:40:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:40:59 [info] currentZPosition:0.0666
2025-04-24 10:41:00 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:00 [debug] Diagnostics for board 50:
2025-04-24 10:41:00 [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 10:41:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:05 ago, cause: software
2025-04-24 10:41:00 [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 10:41:00 [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 10:41:00 [debug] Moves scheduled 7479, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:00 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17167, writes 0 timeouts 0
2025-04-24 10:41:00 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 10:41:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:00 [info] currentZPosition:0.0666
2025-04-24 10:41:02 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:02 [debug] Diagnostics for board 50:
2025-04-24 10:41:02 [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 10:41:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:06 ago, cause: software
2025-04-24 10:41:02 [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 10:41:02 [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 10:41:02 [debug] Moves scheduled 7483, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17441
Sync err accum 90, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:02 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16717, writes 0 timeouts 0
2025-04-24 10:41:02 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36166/37175
2025-04-24 10:41:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:02 [info] currentZPosition:0.0662
2025-04-24 10:41:03 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:03 [debug] Diagnostics for board 50:
2025-04-24 10:41:03 [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 10:41:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:08 ago, cause: software
2025-04-24 10:41:03 [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 10:41:03 [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 10:41:03 [debug] Moves scheduled 7487, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=726, max=17857
Sync err accum 82, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:03 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17601, writes 11 timeouts 1
2025-04-24 10:41:03 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37175
2025-04-24 10:41:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:03 [info] currentZPosition:0.0648
2025-04-24 10:41:03 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:05 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:05 [debug] Diagnostics for board 50:
2025-04-24 10:41:05 [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 10:41:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:09 ago, cause: software
2025-04-24 10:41:05 [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 10:41:05 [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 10:41:05 [debug] Moves scheduled 7493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:05 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20124, writes 0 timeouts 0
2025-04-24 10:41:05 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37177
2025-04-24 10:41:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:05 [info] currentZPosition:0.0660
2025-04-24 10:41:06 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:06 [debug] Diagnostics for board 50:
2025-04-24 10:41:06 [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 10:41:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:11 ago, cause: software
2025-04-24 10:41:06 [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 10:41:06 [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 10:41:06 [debug] Moves scheduled 7497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:06 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16951, writes 0 timeouts 0
2025-04-24 10:41:06 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36038/37176
2025-04-24 10:41:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8701, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:06 [info] currentZPosition:0.0667
2025-04-24 10:41:07 [debug] Stopped at height 0.064 mm
2025-04-24 10:41:07 [debug] Diagnostics for board 50:
2025-04-24 10:41:07 [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 10:41:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:12 ago, cause: software
2025-04-24 10:41:07 [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 10:41:07 [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 10:41:07 [debug] Moves scheduled 7501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:07 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17270, writes 0 timeouts 0
2025-04-24 10:41:07 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37176
2025-04-24 10:41:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:07 [info] currentZPosition:0.0644
2025-04-24 10:41:08 [debug] Stopped at height 0.064 mm
2025-04-24 10:41:09 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:09 [debug] Diagnostics for board 50:
2025-04-24 10:41:09 [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 10:41:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:14 ago, cause: software
2025-04-24 10:41:09 [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 10:41:09 [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 10:41:09 [debug] Moves scheduled 7507, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:09 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 20297, writes 0 timeouts 0
2025-04-24 10:41:09 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36106/37170
2025-04-24 10:41:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:09 [info] currentZPosition:0.0670
2025-04-24 10:41:09 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:11 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:11 [debug] Diagnostics for board 50:
2025-04-24 10:41:11 [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 10:41:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:15 ago, cause: software
2025-04-24 10:41:11 [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 10:41:11 [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 10:41:11 [debug] Moves scheduled 7513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:11 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20375, writes 0 timeouts 0
2025-04-24 10:41:11 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37173
2025-04-24 10:41:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8682, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:11 [info] currentZPosition:0.0673
2025-04-24 10:41:11 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:12 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:12 [debug] Diagnostics for board 50:
2025-04-24 10:41:12 [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 10:41:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:17 ago, cause: software
2025-04-24 10:41:12 [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 10:41:12 [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 10:41:12 [debug] Moves scheduled 7519, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=552, max=18292
Sync err accum 95, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:12 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 21183, writes 11 timeouts 1
2025-04-24 10:41:12 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37174
2025-04-24 10:41:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:12 [info] currentZPosition:0.0667
2025-04-24 10:41:13 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:14 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:14 [debug] Diagnostics for board 50:
2025-04-24 10:41:14 [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 10:41:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:43:19 ago, cause: software
2025-04-24 10:41:14 [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 10:41:14 [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 10:41:14 [debug] Moves scheduled 7525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=18292
Sync err accum 95, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:14 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20391, writes 0 timeouts 0
2025-04-24 10:41:14 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37175
2025-04-24 10:41:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:14 [info] currentZPosition:0.0670
2025-04-24 10:41:15 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:15 [debug] Diagnostics for board 50:
2025-04-24 10:41:15 [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 10:41:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:20 ago, cause: software
2025-04-24 10:41:15 [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 10:41:15 [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 10:41:15 [debug] Moves scheduled 7529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 95, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:15 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17067, writes 0 timeouts 0
2025-04-24 10:41:15 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36097/37177
2025-04-24 10:41:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:15 [info] currentZPosition:0.0673
2025-04-24 10:41:17 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:17 [debug] Diagnostics for board 50:
2025-04-24 10:41:17 [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 10:41:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:21 ago, cause: software
2025-04-24 10:41:17 [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 10:41:17 [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 10:41:17 [debug] Moves scheduled 7533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
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 4294936186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:17 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16502, writes 0 timeouts 0
2025-04-24 10:41:17 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36167/37176
2025-04-24 10:41:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:17 [info] currentZPosition:0.0675
2025-04-24 10:41:18 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:18 [debug] Diagnostics for board 50:
2025-04-24 10:41:18 [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 10:41:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:23 ago, cause: software
2025-04-24 10:41:18 [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 10:41:18 [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 10:41:18 [debug] Moves scheduled 7537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6696, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:18 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17254, writes 0 timeouts 0
2025-04-24 10:41:18 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37177
2025-04-24 10:41:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:18 [info] currentZPosition:0.0672
2025-04-24 10:41:19 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:19 [debug] Diagnostics for board 50:
2025-04-24 10:41:19 [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 10:41:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:24 ago, cause: software
2025-04-24 10:41:19 [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 10:41:19 [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 10:41:19 [debug] Moves scheduled 7541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:19 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16707, writes 0 timeouts 0
2025-04-24 10:41:19 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37177
2025-04-24 10:41:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:19 [info] currentZPosition:0.0670
2025-04-24 10:41:21 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:21 [debug] Diagnostics for board 50:
2025-04-24 10:41:21 [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 10:41:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:25 ago, cause: software
2025-04-24 10:41:21 [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 10:41:21 [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 10:41:21 [debug] Moves scheduled 7545, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:41:21 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17422, writes 0 timeouts 0
2025-04-24 10:41:21 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37177
2025-04-24 10:41:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:21 [info] currentZPosition:0.0661
2025-04-24 10:41:22 [debug] Stopped at height 0.068 mm
2025-04-24 10:41:22 [debug] Diagnostics for board 50:
2025-04-24 10:41:22 [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 10:41:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:27 ago, cause: software
2025-04-24 10:41:22 [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 10:41:22 [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 10:41:22 [debug] Moves scheduled 7549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6818, max=17045
Sync err accum 65, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:22 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 15945, writes 0 timeouts 0
2025-04-24 10:41:22 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36159/37176
2025-04-24 10:41:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8655, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:22 [info] currentZPosition:0.0680
2025-04-24 10:41:22 [debug] Stopped at height 0.068 mm
2025-04-24 10:41:24 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:24 [debug] Diagnostics for board 50:
2025-04-24 10:41:24 [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 10:41:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:28 ago, cause: software
2025-04-24 10:41:24 [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 10:41:24 [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 10:41:24 [debug] Moves scheduled 7555, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 79, peak jitter 0/4, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:24 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 21390, writes 0 timeouts 0
2025-04-24 10:41:24 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37175
2025-04-24 10:41:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:24 [info] currentZPosition:0.0671
2025-04-24 10:41:25 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:25 [debug] Diagnostics for board 50:
2025-04-24 10:41:25 [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 10:41:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:30 ago, cause: software
2025-04-24 10:41:25 [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 10:41:25 [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 10:41:25 [debug] Moves scheduled 7559, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934941 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:25 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16808, writes 0 timeouts 0
2025-04-24 10:41:25 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37175
2025-04-24 10:41:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:25 [info] currentZPosition:0.0664
2025-04-24 10:41:26 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:26 [debug] Diagnostics for board 50:
2025-04-24 10:41:26 [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 10:41:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:31 ago, cause: software
2025-04-24 10:41:26 [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 10:41:26 [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 10:41:26 [debug] Moves scheduled 7563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:26 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17048, writes 0 timeouts 0
2025-04-24 10:41:26 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 10:41:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:26 [info] currentZPosition:0.0669
2025-04-24 10:41:28 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:28 [debug] Diagnostics for board 50:
2025-04-24 10:41:28 [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 10:41:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:33 ago, cause: software
2025-04-24 10:41:28 [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 10:41:28 [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 10:41:28 [debug] Moves scheduled 7567, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 87, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:28 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16596, writes 0 timeouts 0
2025-04-24 10:41:28 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36166/37176
2025-04-24 10:41:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:28 [info] currentZPosition:0.0670
2025-04-24 10:41:29 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:29 [debug] Diagnostics for board 50:
2025-04-24 10:41:29 [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 10:41:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:34 ago, cause: software
2025-04-24 10:41:29 [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 10:41:29 [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 10:41:29 [debug] Moves scheduled 7571, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:29 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17382, writes 0 timeouts 0
2025-04-24 10:41:29 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36089/37177
2025-04-24 10:41:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:29 [info] currentZPosition:0.0665
2025-04-24 10:41:30 [debug] Stopped at height 0.068 mm
2025-04-24 10:41:30 [debug] Diagnostics for board 50:
2025-04-24 10:41:30 [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 10:41:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:35 ago, cause: software
2025-04-24 10:41:30 [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 10:41:30 [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 10:41:30 [debug] Moves scheduled 7575, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=113, frequency (Hz): min=6302, max=17045
Sync err accum 82, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:30 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16104, writes 0 timeouts 0
2025-04-24 10:41:30 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37176
2025-04-24 10:41:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8654, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:30 [info] currentZPosition:0.0681
2025-04-24 10:41:31 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:32 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:32 [debug] Diagnostics for board 50:
2025-04-24 10:41:32 [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 10:41:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:37 ago, cause: software
2025-04-24 10:41:32 [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 10:41:32 [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 10:41:32 [debug] Moves scheduled 7581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 75, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:32 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21629, writes 0 timeouts 0
2025-04-24 10:41:32 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37175
2025-04-24 10:41:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:32 [info] currentZPosition:0.0664
2025-04-24 10:41:33 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:33 [debug] Diagnostics for board 50:
2025-04-24 10:41:33 [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 10:41:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:38 ago, cause: software
2025-04-24 10:41:33 [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 10:41:33 [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 10:41:33 [debug] Moves scheduled 7585, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:33 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16587, writes 0 timeouts 0
2025-04-24 10:41:33 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37172
2025-04-24 10:41:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:34 [info] currentZPosition:0.0665
2025-04-24 10:41:35 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:35 [debug] Diagnostics for board 50:
2025-04-24 10:41:35 [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 10:41:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:40 ago, cause: software
2025-04-24 10:41:35 [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 10:41:35 [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 10:41:35 [debug] Moves scheduled 7589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294934981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:35 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17086, writes 0 timeouts 0
2025-04-24 10:41:35 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37177
2025-04-24 10:41:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:35 [info] currentZPosition:0.0669
2025-04-24 10:41:36 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:36 [debug] Diagnostics for board 50:
2025-04-24 10:41:36 [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 10:41:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:41 ago, cause: software
2025-04-24 10:41:36 [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 10:41:36 [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 10:41:36 [debug] Moves scheduled 7593, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 70, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:36 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16801, writes 0 timeouts 0
2025-04-24 10:41:36 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37174
2025-04-24 10:41:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:36 [info] currentZPosition:0.0662
2025-04-24 10:41:38 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:38 [debug] Diagnostics for board 50:
2025-04-24 10:41:38 [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 10:41:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:42 ago, cause: software
2025-04-24 10:41:38 [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 10:41:38 [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 10:41:38 [debug] Moves scheduled 7597, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:38 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17079, writes 0 timeouts 0
2025-04-24 10:41:38 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37172
2025-04-24 10:41:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:38 [info] currentZPosition:0.0665
2025-04-24 10:41:39 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:39 [debug] Diagnostics for board 50:
2025-04-24 10:41:39 [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 10:41:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:44 ago, cause: software
2025-04-24 10:41:39 [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 10:41:39 [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 10:41:39 [debug] Moves scheduled 7601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 84, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:39 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16601, writes 0 timeouts 0
2025-04-24 10:41:39 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36146/37175
2025-04-24 10:41:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:39 [info] currentZPosition:0.0664
2025-04-24 10:41:40 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:40 [debug] Diagnostics for board 50:
2025-04-24 10:41:40 [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 10:41:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:45 ago, cause: software
2025-04-24 10:41:40 [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 10:41:40 [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 10:41:40 [debug] Moves scheduled 7605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 92, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:40 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17510, writes 0 timeouts 0
2025-04-24 10:41:40 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 10:41:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:40 [info] currentZPosition:0.0653
2025-04-24 10:41:42 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:42 [debug] Diagnostics for board 50:
2025-04-24 10:41:42 [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 10:41:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:46 ago, cause: software
2025-04-24 10:41:42 [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 10:41:42 [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 10:41:42 [debug] Moves scheduled 7609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:42 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 15976, writes 0 timeouts 0
2025-04-24 10:41:42 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37176
2025-04-24 10:41:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:42 [info] currentZPosition:0.0671
2025-04-24 10:41:42 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:43 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:43 [debug] Diagnostics for board 50:
2025-04-24 10:41:43 [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 10:41:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:48 ago, cause: software
2025-04-24 10:41:43 [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 10:41:43 [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 10:41:43 [debug] Moves scheduled 7615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 97, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:43 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21401, writes 0 timeouts 0
2025-04-24 10:41:43 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37175
2025-04-24 10:41:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:43 [info] currentZPosition:0.0660
2025-04-24 10:41:44 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:45 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:45 [debug] Diagnostics for board 50:
2025-04-24 10:41:45 [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 10:41:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:50 ago, cause: software
2025-04-24 10:41:45 [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 10:41:45 [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 10:41:45 [debug] Moves scheduled 7621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 92, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:45 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20278, writes 0 timeouts 0
2025-04-24 10:41:45 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37176
2025-04-24 10:41:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:45 [info] currentZPosition:0.0666
2025-04-24 10:41:46 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:46 [debug] Diagnostics for board 50:
2025-04-24 10:41:46 [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 10:41:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:51 ago, cause: software
2025-04-24 10:41:46 [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 10:41:46 [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 10:41:46 [debug] Moves scheduled 7625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:46 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17226, writes 0 timeouts 0
2025-04-24 10:41:46 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37175
2025-04-24 10:41:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:46 [info] currentZPosition:0.0662
2025-04-24 10:41:48 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:48 [debug] Diagnostics for board 50:
2025-04-24 10:41:48 [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 10:41:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:52 ago, cause: software
2025-04-24 10:41:48 [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 10:41:48 [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 10:41:48 [debug] Moves scheduled 7629, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:48 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16304, writes 0 timeouts 0
2025-04-24 10:41:48 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36170/37176
2025-04-24 10:41:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:48 [info] currentZPosition:0.0671
2025-04-24 10:41:49 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:49 [debug] Diagnostics for board 50:
2025-04-24 10:41:49 [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 10:41:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:54 ago, cause: software
2025-04-24 10:41:49 [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 10:41:49 [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 10:41:49 [debug] Moves scheduled 7633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=7075, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:41:49 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17688, writes 0 timeouts 0
2025-04-24 10:41:49 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36097/37177
2025-04-24 10:41:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:49 [info] currentZPosition:0.0654
2025-04-24 10:41:49 [debug] Stopped at height 0.065 mm
2025-04-24 10:41:51 [debug] Stopped at height 0.068 mm
2025-04-24 10:41:51 [debug] Diagnostics for board 50:
2025-04-24 10:41:51 [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 10:41:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:55 ago, cause: software
2025-04-24 10:41:51 [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 10:41:51 [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 10:41:51 [debug] Moves scheduled 7639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 70, peak jitter -3/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:51 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 19622, writes 0 timeouts 0
2025-04-24 10:41:51 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36273/37176
2025-04-24 10:41:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8684, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:51 [info] currentZPosition:0.0680
2025-04-24 10:41:51 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:52 [debug] Stopped at height 0.066 mm
2025-04-24 10:41:52 [debug] Diagnostics for board 50:
2025-04-24 10:41:52 [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 10:41:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:57 ago, cause: software
2025-04-24 10:41:52 [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 10:41:52 [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 10:41:52 [debug] Moves scheduled 7645, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 89, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:52 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21751, writes 0 timeouts 0
2025-04-24 10:41:52 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37172
2025-04-24 10:41:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:52 [info] currentZPosition:0.0664
2025-04-24 10:41:54 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:54 [debug] Diagnostics for board 50:
2025-04-24 10:41:54 [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 10:41:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:43:58 ago, cause: software
2025-04-24 10:41:54 [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 10:41:54 [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 10:41:54 [debug] Moves scheduled 7649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6818, max=17857
Sync err accum 101, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:41:54 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16508, writes 0 timeouts 0
2025-04-24 10:41:54 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37172
2025-04-24 10:41:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:54 [info] currentZPosition:0.0668
2025-04-24 10:41:55 [debug] Stopped at height 0.068 mm
2025-04-24 10:41:55 [debug] Diagnostics for board 50:
2025-04-24 10:41:55 [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 10:41:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:00 ago, cause: software
2025-04-24 10:41:55 [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 10:41:55 [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 10:41:55 [debug] Moves scheduled 7653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 112, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:41:55 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16882, writes 0 timeouts 0
2025-04-24 10:41:55 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36094/37174
2025-04-24 10:41:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:55 [info] currentZPosition:0.0678
2025-04-24 10:41:56 [debug] Stopped at height 0.068 mm
2025-04-24 10:41:56 [debug] Diagnostics for board 50:
2025-04-24 10:41:56 [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 10:41:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:01 ago, cause: software
2025-04-24 10:41:56 [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 10:41:56 [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 10:41:56 [debug] Moves scheduled 7657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=505, max=17857
Sync err accum 121, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:41:56 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16561, writes 11 timeouts 1
2025-04-24 10:41:56 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37175
2025-04-24 10:41:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:56 [info] currentZPosition:0.0679
2025-04-24 10:41:58 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:58 [debug] Diagnostics for board 50:
2025-04-24 10:41:58 [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 10:41:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:02 ago, cause: software
2025-04-24 10:41:58 [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 10:41:58 [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 10:41:58 [debug] Moves scheduled 7661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 126, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:58 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17470, writes 0 timeouts 0
2025-04-24 10:41:58 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37175
2025-04-24 10:41:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:58 [info] currentZPosition:0.0670
2025-04-24 10:41:59 [debug] Stopped at height 0.067 mm
2025-04-24 10:41:59 [debug] Diagnostics for board 50:
2025-04-24 10:41:59 [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 10:41:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:04 ago, cause: software
2025-04-24 10:41:59 [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 10:41:59 [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 10:41:59 [debug] Moves scheduled 7665, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 125, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:41:59 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16702, writes 0 timeouts 0
2025-04-24 10:41:59 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36405/37175
2025-04-24 10:41:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:41:59 [info] currentZPosition:0.0668
2025-04-24 10:42:00 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:00 [debug] Diagnostics for board 50:
2025-04-24 10:42:00 [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 10:42:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:05 ago, cause: software
2025-04-24 10:42:00 [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 10:42:00 [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 10:42:00 [debug] Moves scheduled 7669, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 120, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:00 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17218, writes 0 timeouts 0
2025-04-24 10:42:00 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 10:42:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:00 [info] currentZPosition:0.0667
2025-04-24 10:42:02 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:02 [debug] Diagnostics for board 50:
2025-04-24 10:42:02 [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 10:42:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:06 ago, cause: software
2025-04-24 10:42:02 [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 10:42:02 [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 10:42:02 [debug] Moves scheduled 7673, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 114, peak jitter -1/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:42:02 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16253, writes 0 timeouts 0
2025-04-24 10:42:02 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37177
2025-04-24 10:42:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8703, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:02 [info] currentZPosition:0.0679
2025-04-24 10:42:03 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:03 [debug] Diagnostics for board 50:
2025-04-24 10:42:03 [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 10:42:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:08 ago, cause: software
2025-04-24 10:42:03 [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 10:42:03 [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 10:42:03 [debug] Moves scheduled 7677, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 104, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:42:03 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17330, writes 0 timeouts 0
2025-04-24 10:42:03 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37173
2025-04-24 10:42:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:03 [info] currentZPosition:0.0675
2025-04-24 10:42:04 [debug] Stopped at height 0.066 mm
2025-04-24 10:42:04 [debug] Diagnostics for board 50:
2025-04-24 10:42:04 [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 10:42:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:09 ago, cause: software
2025-04-24 10:42:04 [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 10:42:04 [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 10:42:04 [debug] Moves scheduled 7681, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6355, max=17045
Sync err accum 91, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:04 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17307, writes 0 timeouts 0
2025-04-24 10:42:04 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37175
2025-04-24 10:42:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:05 [info] currentZPosition:0.0655
2025-04-24 10:42:05 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:06 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:06 [debug] Diagnostics for board 50:
2025-04-24 10:42:06 [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 10:42:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:11 ago, cause: software
2025-04-24 10:42:06 [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 10:42:06 [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 10:42:06 [debug] Moves scheduled 7687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 76, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:06 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20579, writes 0 timeouts 0
2025-04-24 10:42:06 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36109/37176
2025-04-24 10:42:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:06 [info] currentZPosition:0.0670
2025-04-24 10:42:07 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:07 [debug] Diagnostics for board 50:
2025-04-24 10:42:07 [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 10:42:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:12 ago, cause: software
2025-04-24 10:42:07 [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 10:42:07 [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 10:42:07 [debug] Moves scheduled 7691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 62, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:42:07 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16531, writes 0 timeouts 0
2025-04-24 10:42:07 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37179
2025-04-24 10:42:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:08 [info] currentZPosition:0.0674
2025-04-24 10:42:09 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:09 [debug] Diagnostics for board 50:
2025-04-24 10:42:09 [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 10:42:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:44:14 ago, cause: software
2025-04-24 10:42:09 [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 10:42:09 [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 10:42:09 [debug] Moves scheduled 7695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 72, peak jitter 0/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:09 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17272, writes 0 timeouts 0
2025-04-24 10:42:09 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36107/37174
2025-04-24 10:42:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:09 [info] currentZPosition:0.0671
2025-04-24 10:42:10 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:10 [debug] Diagnostics for board 50:
2025-04-24 10:42:10 [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 10:42:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:15 ago, cause: software
2025-04-24 10:42:10 [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 10:42:10 [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 10:42:10 [debug] Moves scheduled 7699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:10 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16671, writes 0 timeouts 0
2025-04-24 10:42:10 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37175
2025-04-24 10:42:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:10 [info] currentZPosition:0.0669
2025-04-24 10:42:12 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:12 [debug] Diagnostics for board 50:
2025-04-24 10:42:12 [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 10:42:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:16 ago, cause: software
2025-04-24 10:42:12 [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 10:42:12 [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 10:42:12 [debug] Moves scheduled 7703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:12 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16851, writes 0 timeouts 0
2025-04-24 10:42:12 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36095/37174
2025-04-24 10:42:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:12 [info] currentZPosition:0.0678
2025-04-24 10:42:13 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:13 [debug] Diagnostics for board 50:
2025-04-24 10:42:13 [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 10:42:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:18 ago, cause: software
2025-04-24 10:42:13 [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 10:42:13 [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 10:42:13 [debug] Moves scheduled 7707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:13 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16487, writes 0 timeouts 0
2025-04-24 10:42:13 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36404/37175
2025-04-24 10:42:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8686, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:13 [info] currentZPosition:0.0683
2025-04-24 10:42:14 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:14 [debug] Diagnostics for board 50:
2025-04-24 10:42:14 [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 10:42:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:19 ago, cause: software
2025-04-24 10:42:14 [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 10:42:14 [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 10:42:14 [debug] Moves scheduled 7711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:14 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17391, writes 0 timeouts 0
2025-04-24 10:42:14 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37177
2025-04-24 10:42:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:14 [info] currentZPosition:0.0675
2025-04-24 10:42:16 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:16 [debug] Diagnostics for board 50:
2025-04-24 10:42:16 [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 10:42:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:20 ago, cause: software
2025-04-24 10:42:16 [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 10:42:16 [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 10:42:16 [debug] Moves scheduled 7715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 96, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:16 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16858, writes 0 timeouts 0
2025-04-24 10:42:16 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36398/37172
2025-04-24 10:42:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:16 [info] currentZPosition:0.0666
2025-04-24 10:42:17 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:17 [debug] Diagnostics for board 50:
2025-04-24 10:42:17 [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 10:42:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:22 ago, cause: software
2025-04-24 10:42:17 [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 10:42:17 [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 10:42:17 [debug] Moves scheduled 7719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 90, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:17 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16925, writes 0 timeouts 0
2025-04-24 10:42:17 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 10:42:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:17 [info] currentZPosition:0.0674
2025-04-24 10:42:18 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:18 [debug] Diagnostics for board 50:
2025-04-24 10:42:18 [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 10:42:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:23 ago, cause: software
2025-04-24 10:42:18 [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 10:42:18 [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 10:42:18 [debug] Moves scheduled 7723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 85, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:18 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16508, writes 0 timeouts 0
2025-04-24 10:42:18 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36396/37178
2025-04-24 10:42:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:18 [info] currentZPosition:0.0677
2025-04-24 10:42:20 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:20 [debug] Diagnostics for board 50:
2025-04-24 10:42:20 [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 10:42:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:24 ago, cause: software
2025-04-24 10:42:20 [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 10:42:20 [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 10:42:20 [debug] Moves scheduled 7727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:20 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17359, writes 0 timeouts 0
2025-04-24 10:42:20 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37178
2025-04-24 10:42:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:20 [info] currentZPosition:0.0671
2025-04-24 10:42:21 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:21 [debug] Diagnostics for board 50:
2025-04-24 10:42:21 [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 10:42:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:26 ago, cause: software
2025-04-24 10:42:21 [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 10:42:21 [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 10:42:21 [debug] Moves scheduled 7731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:21 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16522, writes 0 timeouts 0
2025-04-24 10:42:21 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36382/37175
2025-04-24 10:42:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:21 [info] currentZPosition:0.0675
2025-04-24 10:42:22 [debug] Stopped at height 0.066 mm
2025-04-24 10:42:22 [debug] Diagnostics for board 50:
2025-04-24 10:42:22 [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 10:42:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:27 ago, cause: software
2025-04-24 10:42:22 [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 10:42:22 [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 10:42:22 [debug] Moves scheduled 7735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:22 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17470, writes 0 timeouts 0
2025-04-24 10:42:22 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36100/37179
2025-04-24 10:42:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:22 [info] currentZPosition:0.0664
2025-04-24 10:42:24 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:24 [debug] Diagnostics for board 50:
2025-04-24 10:42:24 [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 10:42:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:28 ago, cause: software
2025-04-24 10:42:24 [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 10:42:24 [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 10:42:24 [debug] Moves scheduled 7739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 77, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:24 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16237, writes 0 timeouts 0
2025-04-24 10:42:24 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37176
2025-04-24 10:42:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:24 [info] currentZPosition:0.0678
2025-04-24 10:42:24 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:25 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:25 [debug] Diagnostics for board 50:
2025-04-24 10:42:25 [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 10:42:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:30 ago, cause: software
2025-04-24 10:42:25 [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 10:42:25 [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 10:42:25 [debug] Moves scheduled 7745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 90, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931294 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:25 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 21146, writes 0 timeouts 0
2025-04-24 10:42:25 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36093/37175
2025-04-24 10:42:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:25 [info] currentZPosition:0.0676
2025-04-24 10:42:27 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:27 [debug] Diagnostics for board 50:
2025-04-24 10:42:27 [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 10:42:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:31 ago, cause: software
2025-04-24 10:42:27 [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 10:42:27 [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 10:42:27 [debug] Moves scheduled 7749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:27 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16458, writes 0 timeouts 0
2025-04-24 10:42:27 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37174
2025-04-24 10:42:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:27 [info] currentZPosition:0.0681
2025-04-24 10:42:28 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:28 [debug] Diagnostics for board 50:
2025-04-24 10:42:28 [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 10:42:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:33 ago, cause: software
2025-04-24 10:42:28 [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 10:42:28 [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 10:42:28 [debug] Moves scheduled 7753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17441
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:28 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17091, writes 0 timeouts 0
2025-04-24 10:42:28 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 10:42:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:28 [info] currentZPosition:0.0682
2025-04-24 10:42:29 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:29 [debug] Diagnostics for board 50:
2025-04-24 10:42:29 [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 10:42:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:34 ago, cause: software
2025-04-24 10:42:29 [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 10:42:29 [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 10:42:29 [debug] Moves scheduled 7757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6198, max=17045
Sync err accum 96, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:29 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16985, writes 0 timeouts 0
2025-04-24 10:42:29 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37169
2025-04-24 10:42:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:29 [info] currentZPosition:0.0670
2025-04-24 10:42:31 [debug] Stopped at height 0.065 mm
2025-04-24 10:42:31 [debug] Diagnostics for board 50:
2025-04-24 10:42:31 [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 10:42:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:36 ago, cause: software
2025-04-24 10:42:31 [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 10:42:31 [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 10:42:31 [debug] Moves scheduled 7761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6198, max=17441
Sync err accum 94, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:31 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17732, writes 0 timeouts 0
2025-04-24 10:42:31 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37177
2025-04-24 10:42:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:31 [info] currentZPosition:0.0653
2025-04-24 10:42:31 [debug] Stopped at height 0.065 mm
2025-04-24 10:42:32 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:32 [debug] Diagnostics for board 50:
2025-04-24 10:42:32 [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 10:42:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:37 ago, cause: software
2025-04-24 10:42:32 [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 10:42:32 [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 10:42:32 [debug] Moves scheduled 7767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:32 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20085, writes 0 timeouts 0
2025-04-24 10:42:32 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37176
2025-04-24 10:42:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:32 [info] currentZPosition:0.0666
2025-04-24 10:42:34 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:34 [debug] Diagnostics for board 50:
2025-04-24 10:42:34 [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 10:42:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:39 ago, cause: software
2025-04-24 10:42:34 [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 10:42:34 [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 10:42:34 [debug] Moves scheduled 7771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:34 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16765, writes 0 timeouts 0
2025-04-24 10:42:34 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37173
2025-04-24 10:42:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:34 [info] currentZPosition:0.0680
2025-04-24 10:42:34 [debug] Stopped at height 0.066 mm
2025-04-24 10:42:35 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:35 [debug] Diagnostics for board 50:
2025-04-24 10:42:35 [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 10:42:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:44:40 ago, cause: software
2025-04-24 10:42:35 [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 10:42:35 [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 10:42:35 [debug] Moves scheduled 7777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6637, max=18292
Sync err accum 68, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:42:35 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20593, writes 0 timeouts 0
2025-04-24 10:42:35 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37179
2025-04-24 10:42:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:35 [info] currentZPosition:0.0678
2025-04-24 10:42:36 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:37 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:37 [debug] Diagnostics for board 50:
2025-04-24 10:42:37 [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 10:42:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:42 ago, cause: software
2025-04-24 10:42:37 [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 10:42:37 [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 10:42:37 [debug] Moves scheduled 7783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=77, frequency (Hz): min=6198, max=18292
Sync err accum 68, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:37 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21101, writes 0 timeouts 0
2025-04-24 10:42:37 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36099/37175
2025-04-24 10:42:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:37 [info] currentZPosition:0.0678
2025-04-24 10:42:38 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:38 [debug] Diagnostics for board 50:
2025-04-24 10:42:38 [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 10:42:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:43 ago, cause: software
2025-04-24 10:42:38 [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 10:42:38 [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 10:42:38 [debug] Moves scheduled 7787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:38 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16589, writes 0 timeouts 0
2025-04-24 10:42:38 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37172
2025-04-24 10:42:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:38 [info] currentZPosition:0.0679
2025-04-24 10:42:40 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:40 [debug] Diagnostics for board 50:
2025-04-24 10:42:40 [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 10:42:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:45 ago, cause: software
2025-04-24 10:42:40 [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 10:42:40 [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 10:42:40 [debug] Moves scheduled 7791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294931158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 10:42:40 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17068, writes 0 timeouts 0
2025-04-24 10:42:40 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37174
2025-04-24 10:42:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:40 [info] currentZPosition:0.0683
2025-04-24 10:42:41 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:41 [debug] Diagnostics for board 50:
2025-04-24 10:42:41 [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 10:42:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:46 ago, cause: software
2025-04-24 10:42:41 [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 10:42:41 [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 10:42:41 [debug] Moves scheduled 7795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 93, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:42:41 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17021, writes 0 timeouts 0
2025-04-24 10:42:41 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36378/37176
2025-04-24 10:42:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:41 [info] currentZPosition:0.0670
2025-04-24 10:42:42 [debug] Stopped at height 0.064 mm
2025-04-24 10:42:42 [debug] Stopped at height 0.064 mm
2025-04-24 10:42:43 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:43 [debug] Diagnostics for board 50:
2025-04-24 10:42:43 [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 10:42:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:48 ago, cause: software
2025-04-24 10:42:43 [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 10:42:43 [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 10:42:43 [debug] Moves scheduled 7803, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6696, max=17857
Sync err accum 97, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:43 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 24820, writes 0 timeouts 0
2025-04-24 10:42:43 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 287, adv 36107/37177
2025-04-24 10:42:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:43 [info] currentZPosition:0.0682
2025-04-24 10:42:44 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:45 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:45 [debug] Diagnostics for board 50:
2025-04-24 10:42:45 [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 10:42:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:50 ago, cause: software
2025-04-24 10:42:45 [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 10:42:45 [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 10:42:45 [debug] Moves scheduled 7809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:45 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20580, writes 0 timeouts 0
2025-04-24 10:42:45 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36284/37177
2025-04-24 10:42:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:45 [info] currentZPosition:0.0677
2025-04-24 10:42:46 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:46 [debug] Diagnostics for board 50:
2025-04-24 10:42:46 [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 10:42:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:51 ago, cause: software
2025-04-24 10:42:46 [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 10:42:46 [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 10:42:46 [debug] Moves scheduled 7813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 85, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:46 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16976, writes 0 timeouts 0
2025-04-24 10:42:46 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37177
2025-04-24 10:42:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:46 [info] currentZPosition:0.0683
2025-04-24 10:42:47 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:47 [debug] Diagnostics for board 50:
2025-04-24 10:42:47 [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 10:42:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:52 ago, cause: software
2025-04-24 10:42:47 [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 10:42:47 [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 10:42:47 [debug] Moves scheduled 7817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5639, max=17441
Sync err accum 76, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:47 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16648, writes 0 timeouts 0
2025-04-24 10:42:47 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37172
2025-04-24 10:42:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:48 [info] currentZPosition:0.0680
2025-04-24 10:42:49 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:49 [debug] Diagnostics for board 50:
2025-04-24 10:42:49 [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 10:42:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:54 ago, cause: software
2025-04-24 10:42:49 [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 10:42:49 [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 10:42:49 [debug] Moves scheduled 7821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:42:49 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17251, writes 0 timeouts 0
2025-04-24 10:42:49 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36097/37177
2025-04-24 10:42:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:49 [info] currentZPosition:0.0678
2025-04-24 10:42:50 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:50 [debug] Diagnostics for board 50:
2025-04-24 10:42:50 [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 10:42:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:55 ago, cause: software
2025-04-24 10:42:50 [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 10:42:50 [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 10:42:50 [debug] Moves scheduled 7825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6097, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:50 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16439, writes 0 timeouts 0
2025-04-24 10:42:50 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36162/37174
2025-04-24 10:42:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:50 [info] currentZPosition:0.0685
2025-04-24 10:42:52 [debug] Stopped at height 0.069 mm
2025-04-24 10:42:52 [debug] Diagnostics for board 50:
2025-04-24 10:42:52 [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 10:42:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:56 ago, cause: software
2025-04-24 10:42:52 [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 10:42:52 [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 10:42:52 [debug] Moves scheduled 7829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 75, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:52 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17156, writes 0 timeouts 0
2025-04-24 10:42:52 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 10:42:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:52 [info] currentZPosition:0.0686
2025-04-24 10:42:53 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:53 [debug] Diagnostics for board 50:
2025-04-24 10:42:53 [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 10:42:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:58 ago, cause: software
2025-04-24 10:42:53 [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 10:42:53 [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 10:42:53 [debug] Moves scheduled 7833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:53 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16999, writes 0 timeouts 0
2025-04-24 10:42:53 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37175
2025-04-24 10:42:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:53 [info] currentZPosition:0.0673
2025-04-24 10:42:53 [debug] Stopped at height 0.067 mm
2025-04-24 10:42:55 [debug] Stopped at height 0.069 mm
2025-04-24 10:42:55 [debug] Diagnostics for board 50:
2025-04-24 10:42:55 [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 10:42:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:44:59 ago, cause: software
2025-04-24 10:42:55 [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 10:42:55 [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 10:42:55 [debug] Moves scheduled 7839, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6355, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294928004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:55 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20641, writes 0 timeouts 0
2025-04-24 10:42:55 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37176
2025-04-24 10:42:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:55 [info] currentZPosition:0.0689
2025-04-24 10:42:55 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:56 [debug] Stopped at height 0.069 mm
2025-04-24 10:42:56 [debug] Diagnostics for board 50:
2025-04-24 10:42:56 [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 10:42:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:01 ago, cause: software
2025-04-24 10:42:56 [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 10:42:56 [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 10:42:56 [debug] Moves scheduled 7845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:56 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20549, writes 0 timeouts 0
2025-04-24 10:42:56 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37176
2025-04-24 10:42:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:56 [info] currentZPosition:0.0687
2025-04-24 10:42:58 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:58 [debug] Diagnostics for board 50:
2025-04-24 10:42:58 [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 10:42:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:02 ago, cause: software
2025-04-24 10:42:58 [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 10:42:58 [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 10:42:58 [debug] Moves scheduled 7849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 90, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:58 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17298, writes 0 timeouts 0
2025-04-24 10:42:58 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37176
2025-04-24 10:42:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:58 [info] currentZPosition:0.0683
2025-04-24 10:42:59 [debug] Stopped at height 0.068 mm
2025-04-24 10:42:59 [debug] Diagnostics for board 50:
2025-04-24 10:42:59 [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 10:42:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:04 ago, cause: software
2025-04-24 10:42:59 [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 10:42:59 [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 10:42:59 [debug] Moves scheduled 7853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 89, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:42:59 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16548, writes 0 timeouts 0
2025-04-24 10:42:59 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36164/37175
2025-04-24 10:42:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:42:59 [info] currentZPosition:0.0684
2025-04-24 10:43:00 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:00 [debug] Diagnostics for board 50:
2025-04-24 10:43:00 [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 10:43:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:45:05 ago, cause: software
2025-04-24 10:43:00 [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 10:43:00 [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 10:43:00 [debug] Moves scheduled 7857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:00 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16997, writes 0 timeouts 0
2025-04-24 10:43:00 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36091/37176
2025-04-24 10:43:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:00 [info] currentZPosition:0.0690
2025-04-24 10:43:02 [debug] Stopped at height 0.066 mm
2025-04-24 10:43:02 [debug] Diagnostics for board 50:
2025-04-24 10:43:02 [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 10:43:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:06 ago, cause: software
2025-04-24 10:43:02 [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 10:43:02 [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 10:43:02 [debug] Moves scheduled 7861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:02 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17436, writes 0 timeouts 0
2025-04-24 10:43:02 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36153/37177
2025-04-24 10:43:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:02 [info] currentZPosition:0.0663
2025-04-24 10:43:02 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:03 [debug] Stopped at height 0.067 mm
2025-04-24 10:43:03 [debug] Diagnostics for board 50:
2025-04-24 10:43:03 [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 10:43:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:08 ago, cause: software
2025-04-24 10:43:03 [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 10:43:03 [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 10:43:03 [debug] Moves scheduled 7867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 66, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:43:03 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20953, writes 0 timeouts 0
2025-04-24 10:43:03 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36096/37175
2025-04-24 10:43:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:03 [info] currentZPosition:0.0666
2025-04-24 10:43:04 [debug] Stopped at height 0.066 mm
2025-04-24 10:43:05 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:05 [debug] Diagnostics for board 50:
2025-04-24 10:43:05 [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 10:43:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:10 ago, cause: software
2025-04-24 10:43:05 [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 10:43:05 [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 10:43:05 [debug] Moves scheduled 7873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:05 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20132, writes 0 timeouts 0
2025-04-24 10:43:05 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36164/37177
2025-04-24 10:43:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:05 [info] currentZPosition:0.0682
2025-04-24 10:43:05 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:07 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:07 [debug] Diagnostics for board 50:
2025-04-24 10:43:07 [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 10:43:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:11 ago, cause: software
2025-04-24 10:43:07 [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 10:43:07 [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 10:43:07 [debug] Moves scheduled 7879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:07 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20875, writes 0 timeouts 0
2025-04-24 10:43:07 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37176
2025-04-24 10:43:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:07 [info] currentZPosition:0.0688
2025-04-24 10:43:08 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:08 [debug] Diagnostics for board 50:
2025-04-24 10:43:08 [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 10:43:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:45:13 ago, cause: software
2025-04-24 10:43:08 [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 10:43:08 [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 10:43:08 [debug] Moves scheduled 7883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:08 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16681, writes 0 timeouts 0
2025-04-24 10:43:08 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36151/37176
2025-04-24 10:43:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:08 [info] currentZPosition:0.0685
2025-04-24 10:43:09 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:09 [debug] Diagnostics for board 50:
2025-04-24 10:43:09 [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 10:43:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:14 ago, cause: software
2025-04-24 10:43:09 [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 10:43:09 [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 10:43:09 [debug] Moves scheduled 7887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:09 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17086, writes 0 timeouts 0
2025-04-24 10:43:09 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36102/37175
2025-04-24 10:43:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:09 [info] currentZPosition:0.0690
2025-04-24 10:43:11 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:11 [debug] Diagnostics for board 50:
2025-04-24 10:43:11 [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 10:43:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:15 ago, cause: software
2025-04-24 10:43:11 [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 10:43:11 [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 10:43:11 [debug] Moves scheduled 7891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
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 4294936478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:11 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16682, writes 0 timeouts 0
2025-04-24 10:43:11 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37177
2025-04-24 10:43:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:11 [info] currentZPosition:0.0685
2025-04-24 10:43:12 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:12 [debug] Diagnostics for board 50:
2025-04-24 10:43:12 [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 10:43:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:17 ago, cause: software
2025-04-24 10:43:12 [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 10:43:12 [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 10:43:12 [debug] Moves scheduled 7895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 71, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:12 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17415, writes 0 timeouts 0
2025-04-24 10:43:12 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37177
2025-04-24 10:43:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:12 [info] currentZPosition:0.0677
2025-04-24 10:43:13 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:13 [debug] Diagnostics for board 50:
2025-04-24 10:43:13 [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 10:43:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:18 ago, cause: software
2025-04-24 10:43:13 [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 10:43:13 [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 10:43:13 [debug] Moves scheduled 7899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 73, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:13 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16093, writes 0 timeouts 0
2025-04-24 10:43:13 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36161/37175
2025-04-24 10:43:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:13 [info] currentZPosition:0.0695
2025-04-24 10:43:14 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:15 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:15 [debug] Diagnostics for board 50:
2025-04-24 10:43:15 [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 10:43:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:20 ago, cause: software
2025-04-24 10:43:15 [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 10:43:15 [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 10:43:15 [debug] Moves scheduled 7905, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 74, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:15 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21443, writes 0 timeouts 0
2025-04-24 10:43:15 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37176
2025-04-24 10:43:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:15 [info] currentZPosition:0.0681
2025-04-24 10:43:16 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:16 [debug] Diagnostics for board 50:
2025-04-24 10:43:16 [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 10:43:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:21 ago, cause: software
2025-04-24 10:43:16 [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 10:43:16 [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 10:43:16 [debug] Moves scheduled 7909, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=18292
Sync err accum 70, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:16 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16500, writes 0 timeouts 0
2025-04-24 10:43:16 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37176
2025-04-24 10:43:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:16 [info] currentZPosition:0.0684
2025-04-24 10:43:18 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:18 [debug] Diagnostics for board 50:
2025-04-24 10:43:18 [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 10:43:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:23 ago, cause: software
2025-04-24 10:43:18 [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 10:43:18 [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 10:43:18 [debug] Moves scheduled 7913, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:18 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17105, writes 0 timeouts 0
2025-04-24 10:43:18 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37177
2025-04-24 10:43:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:18 [info] currentZPosition:0.0688
2025-04-24 10:43:19 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:19 [debug] Diagnostics for board 50:
2025-04-24 10:43:19 [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 10:43:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:24 ago, cause: software
2025-04-24 10:43:19 [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 10:43:19 [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 10:43:19 [debug] Moves scheduled 7917, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
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 4294932331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:19 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16783, writes 0 timeouts 0
2025-04-24 10:43:19 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37177
2025-04-24 10:43:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:19 [info] currentZPosition:0.0681
2025-04-24 10:43:20 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:20 [debug] Diagnostics for board 50:
2025-04-24 10:43:20 [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 10:43:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:25 ago, cause: software
2025-04-24 10:43:20 [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 10:43:20 [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 10:43:20 [debug] Moves scheduled 7921, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17045
Sync err accum 65, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:20 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16897, writes 0 timeouts 0
2025-04-24 10:43:20 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37174
2025-04-24 10:43:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:21 [info] currentZPosition:0.0690
2025-04-24 10:43:22 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:22 [debug] Diagnostics for board 50:
2025-04-24 10:43:22 [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 10:43:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:27 ago, cause: software
2025-04-24 10:43:22 [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 10:43:22 [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 10:43:22 [debug] Moves scheduled 7925, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:22 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16760, writes 0 timeouts 0
2025-04-24 10:43:22 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37173
2025-04-24 10:43:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:22 [info] currentZPosition:0.0685
2025-04-24 10:43:23 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:23 [debug] Diagnostics for board 50:
2025-04-24 10:43:23 [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 10:43:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:28 ago, cause: software
2025-04-24 10:43:23 [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 10:43:23 [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 10:43:23 [debug] Moves scheduled 7929, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 66, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:23 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17008, writes 0 timeouts 0
2025-04-24 10:43:23 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36096/37176
2025-04-24 10:43:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:23 [info] currentZPosition:0.0691
2025-04-24 10:43:24 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:24 [debug] Diagnostics for board 50:
2025-04-24 10:43:24 [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 10:43:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:29 ago, cause: software
2025-04-24 10:43:24 [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 10:43:24 [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 10:43:24 [debug] Moves scheduled 7933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:24 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16831, writes 0 timeouts 0
2025-04-24 10:43:24 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36151/37175
2025-04-24 10:43:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:25 [info] currentZPosition:0.0683
2025-04-24 10:43:26 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:26 [debug] Diagnostics for board 50:
2025-04-24 10:43:26 [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 10:43:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:31 ago, cause: software
2025-04-24 10:43:26 [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 10:43:26 [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 10:43:26 [debug] Moves scheduled 7937, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=18292
Sync err accum 70, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:26 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17011, writes 0 timeouts 0
2025-04-24 10:43:26 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 10:43:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:26 [info] currentZPosition:0.0688
2025-04-24 10:43:27 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:27 [debug] Diagnostics for board 50:
2025-04-24 10:43:27 [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 10:43:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:32 ago, cause: software
2025-04-24 10:43:27 [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 10:43:27 [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 10:43:27 [debug] Moves scheduled 7941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:27 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16481, writes 0 timeouts 0
2025-04-24 10:43:27 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 35961/37176
2025-04-24 10:43:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:27 [info] currentZPosition:0.0690
2025-04-24 10:43:29 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:29 [debug] Diagnostics for board 50:
2025-04-24 10:43:29 [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 10:43:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:33 ago, cause: software
2025-04-24 10:43:29 [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 10:43:29 [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 10:43:29 [debug] Moves scheduled 7945, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:29 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17303, writes 0 timeouts 0
2025-04-24 10:43:29 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37174
2025-04-24 10:43:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:29 [info] currentZPosition:0.0686
2025-04-24 10:43:30 [debug] Stopped at height 0.070 mm
2025-04-24 10:43:30 [debug] Diagnostics for board 50:
2025-04-24 10:43:30 [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 10:43:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:35 ago, cause: software
2025-04-24 10:43:30 [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 10:43:30 [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 10:43:30 [debug] Moves scheduled 7949, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 66, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:30 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16242, writes 0 timeouts 0
2025-04-24 10:43:30 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37175
2025-04-24 10:43:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:30 [info] currentZPosition:0.0698
2025-04-24 10:43:31 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:31 [debug] Diagnostics for board 50:
2025-04-24 10:43:31 [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 10:43:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:36 ago, cause: software
2025-04-24 10:43:31 [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 10:43:31 [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 10:43:31 [debug] Moves scheduled 7953, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 76, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:31 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17236, writes 0 timeouts 0
2025-04-24 10:43:31 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37173
2025-04-24 10:43:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:31 [info] currentZPosition:0.0695
2025-04-24 10:43:33 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:33 [debug] Diagnostics for board 50:
2025-04-24 10:43:33 [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 10:43:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:37 ago, cause: software
2025-04-24 10:43:33 [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 10:43:33 [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 10:43:33 [debug] Moves scheduled 7957, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6880, max=17857
Sync err accum 82, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:33 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16982, writes 0 timeouts 0
2025-04-24 10:43:33 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36166/37175
2025-04-24 10:43:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:33 [info] currentZPosition:0.0682
2025-04-24 10:43:33 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:34 [debug] Stopped at height 0.070 mm
2025-04-24 10:43:34 [debug] Diagnostics for board 50:
2025-04-24 10:43:34 [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 10:43:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:39 ago, cause: software
2025-04-24 10:43:34 [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 10:43:34 [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 10:43:34 [debug] Moves scheduled 7963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6818, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:34 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20561, writes 0 timeouts 0
2025-04-24 10:43:34 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36091/37172
2025-04-24 10:43:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:34 [info] currentZPosition:0.0700
2025-04-24 10:43:35 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:36 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:36 [debug] Diagnostics for board 50:
2025-04-24 10:43:36 [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 10:43:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:41 ago, cause: software
2025-04-24 10:43:36 [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 10:43:36 [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 10:43:36 [debug] Moves scheduled 7969, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17857
Sync err accum 90, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:36 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20823, writes 0 timeouts 0
2025-04-24 10:43:36 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36161/37176
2025-04-24 10:43:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:36 [info] currentZPosition:0.0687
2025-04-24 10:43:37 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:37 [debug] Diagnostics for board 50:
2025-04-24 10:43:37 [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 10:43:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:42 ago, cause: software
2025-04-24 10:43:37 [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 10:43:37 [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 10:43:37 [debug] Moves scheduled 7973, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 89, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:37 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17340, writes 0 timeouts 0
2025-04-24 10:43:37 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37176
2025-04-24 10:43:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:37 [info] currentZPosition:0.0681
2025-04-24 10:43:39 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:39 [debug] Diagnostics for board 50:
2025-04-24 10:43:39 [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 10:43:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:43 ago, cause: software
2025-04-24 10:43:39 [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 10:43:39 [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 10:43:39 [debug] Moves scheduled 7977, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=18292
Sync err accum 85, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:39 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16255, writes 0 timeouts 0
2025-04-24 10:43:39 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36283/37176
2025-04-24 10:43:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:39 [info] currentZPosition:0.0692
2025-04-24 10:43:40 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:40 [debug] Diagnostics for board 50:
2025-04-24 10:43:40 [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 10:43:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:45:45 ago, cause: software
2025-04-24 10:43:40 [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 10:43:40 [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 10:43:40 [debug] Moves scheduled 7981, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=566, max=17045
Sync err accum 77, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:40 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17211, writes 11 timeouts 1
2025-04-24 10:43:40 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37177
2025-04-24 10:43:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:40 [info] currentZPosition:0.0690
2025-04-24 10:43:41 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:41 [debug] Diagnostics for board 50:
2025-04-24 10:43:41 [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 10:43:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:46 ago, cause: software
2025-04-24 10:43:41 [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 10:43:41 [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 10:43:41 [debug] Moves scheduled 7985, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:41 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16638, writes 0 timeouts 0
2025-04-24 10:43:41 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37174
2025-04-24 10:43:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:41 [info] currentZPosition:0.0689
2025-04-24 10:43:43 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:43 [debug] Diagnostics for board 50:
2025-04-24 10:43:43 [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 10:43:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:47 ago, cause: software
2025-04-24 10:43:43 [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 10:43:43 [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 10:43:43 [debug] Moves scheduled 7989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 66, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:43 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17082, writes 0 timeouts 0
2025-04-24 10:43:43 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37173
2025-04-24 10:43:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:43 [info] currentZPosition:0.0691
2025-04-24 10:43:44 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:44 [debug] Diagnostics for board 50:
2025-04-24 10:43:44 [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 10:43:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:49 ago, cause: software
2025-04-24 10:43:44 [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 10:43:44 [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 10:43:44 [debug] Moves scheduled 7993, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=18292
Sync err accum 81, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:44 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16649, writes 0 timeouts 0
2025-04-24 10:43:44 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36401/37172
2025-04-24 10:43:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:44 [info] currentZPosition:0.0690
2025-04-24 10:43:45 [debug] Stopped at height 0.070 mm
2025-04-24 10:43:45 [debug] Diagnostics for board 50:
2025-04-24 10:43:45 [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 10:43:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:50 ago, cause: software
2025-04-24 10:43:45 [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 10:43:45 [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 10:43:45 [debug] Moves scheduled 7997, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=172, frequency (Hz): min=495, max=17857
Sync err accum 91, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:45 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16822, writes 11 timeouts 1
2025-04-24 10:43:45 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37173
2025-04-24 10:43:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8683, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:45 [info] currentZPosition:0.0702
2025-04-24 10:43:47 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:47 [debug] Diagnostics for board 50:
2025-04-24 10:43:47 [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 10:43:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:52 ago, cause: software
2025-04-24 10:43:47 [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 10:43:47 [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 10:43:47 [debug] Moves scheduled 8001, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294937216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:47 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17256, writes 0 timeouts 0
2025-04-24 10:43:47 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37174
2025-04-24 10:43:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:47 [info] currentZPosition:0.0681
2025-04-24 10:43:47 [debug] Stopped at height 0.067 mm
2025-04-24 10:43:48 [debug] Stopped at height 0.070 mm
2025-04-24 10:43:48 [debug] Diagnostics for board 50:
2025-04-24 10:43:48 [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 10:43:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:53 ago, cause: software
2025-04-24 10:43:48 [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 10:43:48 [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 10:43:48 [debug] Moves scheduled 8007, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 98, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:48 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20777, writes 0 timeouts 0
2025-04-24 10:43:48 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36109/37175
2025-04-24 10:43:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:48 [info] currentZPosition:0.0696
2025-04-24 10:43:49 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:50 [debug] Stopped at height 0.071 mm
2025-04-24 10:43:50 [debug] Diagnostics for board 50:
2025-04-24 10:43:50 [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 10:43:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:55 ago, cause: software
2025-04-24 10:43:50 [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 10:43:50 [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 10:43:50 [debug] Moves scheduled 8013, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 96, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:50 [debug] Driver 0: pos -3432, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20207, writes 0 timeouts 0
2025-04-24 10:43:50 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37170
2025-04-24 10:43:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8666, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:50 [info] currentZPosition:0.0708
2025-04-24 10:43:50 [debug] Stopped at height 0.070 mm
2025-04-24 10:43:52 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:52 [debug] Diagnostics for board 50:
2025-04-24 10:43:52 [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 10:43:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:57 ago, cause: software
2025-04-24 10:43:52 [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 10:43:52 [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 10:43:52 [debug] Moves scheduled 8019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:52 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21670, writes 0 timeouts 0
2025-04-24 10:43:52 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 10:43:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:52 [info] currentZPosition:0.0688
2025-04-24 10:43:53 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:53 [debug] Diagnostics for board 50:
2025-04-24 10:43:53 [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 10:43:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:45:58 ago, cause: software
2025-04-24 10:43:53 [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 10:43:53 [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 10:43:53 [debug] Moves scheduled 8023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:53 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16447, writes 0 timeouts 0
2025-04-24 10:43:53 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37176
2025-04-24 10:43:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8739, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:53 [info] currentZPosition:0.0694
2025-04-24 10:43:54 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:54 [debug] Diagnostics for board 50:
2025-04-24 10:43:54 [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 10:43:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:45:59 ago, cause: software
2025-04-24 10:43:54 [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 10:43:54 [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 10:43:54 [debug] Moves scheduled 8027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 77, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:54 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17433, writes 0 timeouts 0
2025-04-24 10:43:54 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36112/37179
2025-04-24 10:43:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:55 [info] currentZPosition:0.0686
2025-04-24 10:43:56 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:56 [debug] Diagnostics for board 50:
2025-04-24 10:43:56 [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 10:43:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:01 ago, cause: software
2025-04-24 10:43:56 [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 10:43:56 [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 10:43:56 [debug] Moves scheduled 8031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:43:56 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16801, writes 0 timeouts 0
2025-04-24 10:43:56 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37178
2025-04-24 10:43:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:56 [info] currentZPosition:0.0679
2025-04-24 10:43:57 [debug] Stopped at height 0.070 mm
2025-04-24 10:43:57 [debug] Diagnostics for board 50:
2025-04-24 10:43:57 [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 10:43:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:02 ago, cause: software
2025-04-24 10:43:57 [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 10:43:57 [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 10:43:57 [debug] Moves scheduled 8035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:43:57 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16600, writes 0 timeouts 0
2025-04-24 10:43:57 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36098/37179
2025-04-24 10:43:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:57 [info] currentZPosition:0.0698
2025-04-24 10:43:58 [debug] Stopped at height 0.068 mm
2025-04-24 10:43:59 [debug] Stopped at height 0.069 mm
2025-04-24 10:43:59 [debug] Diagnostics for board 50:
2025-04-24 10:43:59 [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 10:43:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:04 ago, cause: software
2025-04-24 10:43:59 [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 10:43:59 [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 10:43:59 [debug] Moves scheduled 8041, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294931512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:43:59 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20602, writes 0 timeouts 0
2025-04-24 10:43:59 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36401/37173
2025-04-24 10:43:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:43:59 [info] currentZPosition:0.0695
2025-04-24 10:43:59 [debug] Stopped at height 0.068 mm
2025-04-24 10:44:00 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:00 [debug] Diagnostics for board 50:
2025-04-24 10:44:00 [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 10:44:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:05 ago, cause: software
2025-04-24 10:44:00 [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 10:44:00 [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 10:44:00 [debug] Moves scheduled 8047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 85, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:00 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 20704, writes 0 timeouts 0
2025-04-24 10:44:00 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37176
2025-04-24 10:44:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:01 [info] currentZPosition:0.0706
2025-04-24 10:44:01 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:02 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:02 [debug] Diagnostics for board 50:
2025-04-24 10:44:02 [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 10:44:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:07 ago, cause: software
2025-04-24 10:44:02 [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 10:44:02 [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 10:44:02 [debug] Moves scheduled 8053, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:02 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20824, writes 0 timeouts 0
2025-04-24 10:44:02 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36400/37176
2025-04-24 10:44:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:02 [info] currentZPosition:0.0699
2025-04-24 10:44:03 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:03 [debug] Diagnostics for board 50:
2025-04-24 10:44:03 [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 10:44:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:08 ago, cause: software
2025-04-24 10:44:03 [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 10:44:03 [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 10:44:03 [debug] Moves scheduled 8057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:44:03 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17190, writes 0 timeouts 0
2025-04-24 10:44:03 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37174
2025-04-24 10:44:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:04 [info] currentZPosition:0.0700
2025-04-24 10:44:05 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:05 [debug] Diagnostics for board 50:
2025-04-24 10:44:05 [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 10:44:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:10 ago, cause: software
2025-04-24 10:44:05 [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 10:44:05 [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 10:44:05 [debug] Moves scheduled 8061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 85, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:05 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16537, writes 0 timeouts 0
2025-04-24 10:44:05 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37176
2025-04-24 10:44:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:05 [info] currentZPosition:0.0704
2025-04-24 10:44:06 [debug] Stopped at height 0.068 mm
2025-04-24 10:44:06 [debug] Diagnostics for board 50:
2025-04-24 10:44:06 [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 10:44:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:46:11 ago, cause: software
2025-04-24 10:44:06 [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 10:44:06 [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 10:44:06 [debug] Moves scheduled 8065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:06 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17820, writes 0 timeouts 0
2025-04-24 10:44:06 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36112/37175
2025-04-24 10:44:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:06 [info] currentZPosition:0.0683
2025-04-24 10:44:07 [debug] Stopped at height 0.067 mm
2025-04-24 10:44:08 [debug] Stopped at height 0.069 mm
2025-04-24 10:44:08 [debug] Diagnostics for board 50:
2025-04-24 10:44:08 [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 10:44:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:13 ago, cause: software
2025-04-24 10:44:08 [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 10:44:08 [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 10:44:08 [debug] Moves scheduled 8071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5681, max=17045
Sync err accum 76, peak jitter -1/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:08 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20517, writes 0 timeouts 0
2025-04-24 10:44:08 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36390/37178
2025-04-24 10:44:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:08 [info] currentZPosition:0.0687
2025-04-24 10:44:09 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:09 [debug] Diagnostics for board 50:
2025-04-24 10:44:09 [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 10:44:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:14 ago, cause: software
2025-04-24 10:44:09 [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 10:44:09 [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 10:44:09 [debug] Moves scheduled 8075, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:09 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16708, writes 0 timeouts 0
2025-04-24 10:44:09 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 10:44:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:09 [info] currentZPosition:0.0703
2025-04-24 10:44:10 [debug] Stopped at height 0.069 mm
2025-04-24 10:44:11 [debug] Stopped at height 0.069 mm
2025-04-24 10:44:11 [debug] Diagnostics for board 50:
2025-04-24 10:44:11 [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 10:44:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:16 ago, cause: software
2025-04-24 10:44:11 [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 10:44:11 [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 10:44:11 [debug] Moves scheduled 8081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 69, peak jitter -2/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:11 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20868, writes 0 timeouts 0
2025-04-24 10:44:11 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36399/37176
2025-04-24 10:44:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:11 [info] currentZPosition:0.0691
2025-04-24 10:44:12 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:12 [debug] Diagnostics for board 50:
2025-04-24 10:44:12 [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 10:44:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:17 ago, cause: software
2025-04-24 10:44:12 [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 10:44:12 [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 10:44:12 [debug] Moves scheduled 8085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 85, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:44:12 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16891, writes 0 timeouts 0
2025-04-24 10:44:12 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36091/37173
2025-04-24 10:44:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:12 [info] currentZPosition:0.0701
2025-04-24 10:44:14 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:14 [debug] Diagnostics for board 50:
2025-04-24 10:44:14 [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 10:44:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:18 ago, cause: software
2025-04-24 10:44:14 [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 10:44:14 [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 10:44:14 [debug] Moves scheduled 8089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 98, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:44:14 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16518, writes 0 timeouts 0
2025-04-24 10:44:14 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36398/37172
2025-04-24 10:44:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:14 [info] currentZPosition:0.0706
2025-04-24 10:44:15 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:15 [debug] Diagnostics for board 50:
2025-04-24 10:44:15 [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 10:44:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:20 ago, cause: software
2025-04-24 10:44:15 [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 10:44:15 [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 10:44:15 [debug] Moves scheduled 8093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6355, max=17857
Sync err accum 110, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:15 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17120, writes 0 timeouts 0
2025-04-24 10:44:15 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 10:44:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8695, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:15 [info] currentZPosition:0.0710
2025-04-24 10:44:16 [debug] Stopped at height 0.068 mm
2025-04-24 10:44:16 [debug] Diagnostics for board 50:
2025-04-24 10:44:16 [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 10:44:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:21 ago, cause: software
2025-04-24 10:44:16 [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 10:44:16 [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 10:44:16 [debug] Moves scheduled 8097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 121, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:16 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17404, writes 0 timeouts 0
2025-04-24 10:44:16 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36397/37173
2025-04-24 10:44:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:16 [info] currentZPosition:0.0685
2025-04-24 10:44:17 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:18 [debug] Stopped at height 0.068 mm
2025-04-24 10:44:18 [debug] Diagnostics for board 50:
2025-04-24 10:44:18 [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 10:44:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:23 ago, cause: software
2025-04-24 10:44:18 [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 10:44:18 [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 10:44:18 [debug] Moves scheduled 8103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 125, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:18 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 21295, writes 0 timeouts 0
2025-04-24 10:44:18 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37173
2025-04-24 10:44:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:18 [info] currentZPosition:0.0677
2025-04-24 10:44:18 [debug] Stopped at height 0.066 mm
2025-04-24 10:44:20 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:20 [debug] Diagnostics for board 50:
2025-04-24 10:44:20 [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 10:44:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:24 ago, cause: software
2025-04-24 10:44:20 [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 10:44:20 [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 10:44:20 [debug] Moves scheduled 8109, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6578, max=17045
Sync err accum 109, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294928352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:44:20 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 19682, writes 0 timeouts 0
2025-04-24 10:44:20 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36403/37175
2025-04-24 10:44:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8688, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:20 [info] currentZPosition:0.0713
2025-04-24 10:44:20 [debug] Stopped at height 0.068 mm
2025-04-24 10:44:20 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:22 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:22 [debug] Diagnostics for board 50:
2025-04-24 10:44:22 [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 10:44:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:26 ago, cause: software
2025-04-24 10:44:22 [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 10:44:22 [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 10:44:22 [debug] Moves scheduled 8117, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 85, peak jitter -4/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:22 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 25471, writes 0 timeouts 0
2025-04-24 10:44:22 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36112/37176
2025-04-24 10:44:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:22 [info] currentZPosition:0.0696
2025-04-24 10:44:23 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:23 [debug] Diagnostics for board 50:
2025-04-24 10:44:23 [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 10:44:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:28 ago, cause: software
2025-04-24 10:44:23 [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 10:44:23 [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 10:44:23 [debug] Moves scheduled 8121, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:23 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16289, writes 0 timeouts 0
2025-04-24 10:44:23 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37177
2025-04-24 10:44:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:23 [info] currentZPosition:0.0706
2025-04-24 10:44:24 [debug] Stopped at height 0.069 mm
2025-04-24 10:44:24 [debug] Diagnostics for board 50:
2025-04-24 10:44:24 [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 10:44:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:29 ago, cause: software
2025-04-24 10:44:24 [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 10:44:24 [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 10:44:24 [debug] Moves scheduled 8125, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 61, peak jitter -4/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294928997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:24 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17593, writes 0 timeouts 0
2025-04-24 10:44:24 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36093/37179
2025-04-24 10:44:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:24 [info] currentZPosition:0.0695
2025-04-24 10:44:26 [debug] Stopped at height 0.069 mm
2025-04-24 10:44:26 [debug] Diagnostics for board 50:
2025-04-24 10:44:26 [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 10:44:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:30 ago, cause: software
2025-04-24 10:44:26 [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 10:44:26 [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 10:44:26 [debug] Moves scheduled 8129, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter 2/4, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:44:26 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16626, writes 0 timeouts 0
2025-04-24 10:44:26 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37174
2025-04-24 10:44:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:26 [info] currentZPosition:0.0694
2025-04-24 10:44:27 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:27 [debug] Diagnostics for board 50:
2025-04-24 10:44:27 [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 10:44:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:32 ago, cause: software
2025-04-24 10:44:27 [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 10:44:27 [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 10:44:27 [debug] Moves scheduled 8133, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 86, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:44:27 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16684, writes 0 timeouts 0
2025-04-24 10:44:27 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37164
2025-04-24 10:44:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:27 [info] currentZPosition:0.0709
2025-04-24 10:44:27 [debug] Stopped at height 0.068 mm
2025-04-24 10:44:29 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:29 [debug] Diagnostics for board 50:
2025-04-24 10:44:29 [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 10:44:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:33 ago, cause: software
2025-04-24 10:44:29 [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 10:44:29 [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 10:44:29 [debug] Moves scheduled 8139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=517, max=17857
Sync err accum 96, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, current
2025-04-24 10:44:29 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20469, writes 11 timeouts 1
2025-04-24 10:44:29 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37172
2025-04-24 10:44:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:29 [info] currentZPosition:0.0708
2025-04-24 10:44:29 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:30 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:30 [debug] Diagnostics for board 50:
2025-04-24 10:44:30 [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 10:44:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:35 ago, cause: software
2025-04-24 10:44:30 [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 10:44:30 [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 10:44:30 [debug] Moves scheduled 8145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:30 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21186, writes 0 timeouts 0
2025-04-24 10:44:30 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 10:44:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:30 [info] currentZPosition:0.0707
2025-04-24 10:44:32 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:32 [debug] Diagnostics for board 50:
2025-04-24 10:44:32 [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 10:44:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:36 ago, cause: software
2025-04-24 10:44:32 [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 10:44:32 [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 10:44:32 [debug] Moves scheduled 8149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:32 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16400, writes 0 timeouts 0
2025-04-24 10:44:32 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37171
2025-04-24 10:44:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:32 [info] currentZPosition:0.0712
2025-04-24 10:44:33 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:33 [debug] Diagnostics for board 50:
2025-04-24 10:44:33 [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 10:44:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:38 ago, cause: software
2025-04-24 10:44:33 [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 10:44:33 [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 10:44:33 [debug] Moves scheduled 8153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17857
Sync err accum 101, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:33 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17211, writes 0 timeouts 0
2025-04-24 10:44:33 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37173
2025-04-24 10:44:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:33 [info] currentZPosition:0.0710
2025-04-24 10:44:34 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:34 [debug] Diagnostics for board 50:
2025-04-24 10:44:34 [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 10:44:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:46:39 ago, cause: software
2025-04-24 10:44:34 [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 10:44:34 [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 10:44:34 [debug] Moves scheduled 8157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=5859, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:34 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16633, writes 0 timeouts 0
2025-04-24 10:44:34 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37172
2025-04-24 10:44:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:34 [info] currentZPosition:0.0710
2025-04-24 10:44:36 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:36 [debug] Diagnostics for board 50:
2025-04-24 10:44:36 [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 10:44:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:41 ago, cause: software
2025-04-24 10:44:36 [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 10:44:36 [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 10:44:36 [debug] Moves scheduled 8161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17441
Sync err accum 95, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:36 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16992, writes 0 timeouts 0
2025-04-24 10:44:36 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36111/37176
2025-04-24 10:44:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8703, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:36 [info] currentZPosition:0.0714
2025-04-24 10:44:37 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:37 [debug] Diagnostics for board 50:
2025-04-24 10:44:37 [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 10:44:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:46:42 ago, cause: software
2025-04-24 10:44:37 [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 10:44:37 [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 10:44:37 [debug] Moves scheduled 8165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6302, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:37 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16983, writes 0 timeouts 0
2025-04-24 10:44:37 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36162/37174
2025-04-24 10:44:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:37 [info] currentZPosition:0.0701
2025-04-24 10:44:38 [debug] Stopped at height 0.069 mm
2025-04-24 10:44:39 [debug] Stopped at height 0.069 mm
2025-04-24 10:44:39 [debug] Diagnostics for board 50:
2025-04-24 10:44:39 [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 10:44:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:44 ago, cause: software
2025-04-24 10:44:39 [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 10:44:39 [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 10:44:39 [debug] Moves scheduled 8171, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:39 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 21451, writes 0 timeouts 0
2025-04-24 10:44:39 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37178
2025-04-24 10:44:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:39 [info] currentZPosition:0.0692
2025-04-24 10:44:40 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:40 [debug] Diagnostics for board 50:
2025-04-24 10:44:40 [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 10:44:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:46:45 ago, cause: software
2025-04-24 10:44:40 [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 10:44:40 [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 10:44:40 [debug] Moves scheduled 8175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 69, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:40 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 15943, writes 0 timeouts 0
2025-04-24 10:44:40 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37177
2025-04-24 10:44:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:40 [info] currentZPosition:0.0712
2025-04-24 10:44:40 [debug] Stopped at height 0.072 mm
2025-04-24 10:44:42 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:42 [debug] Diagnostics for board 50:
2025-04-24 10:44:42 [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 10:44:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:47 ago, cause: software
2025-04-24 10:44:42 [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 10:44:42 [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 10:44:42 [debug] Moves scheduled 8181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:42 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21271, writes 0 timeouts 0
2025-04-24 10:44:42 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37177
2025-04-24 10:44:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:42 [info] currentZPosition:0.0704
2025-04-24 10:44:43 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:43 [debug] Diagnostics for board 50:
2025-04-24 10:44:43 [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 10:44:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:48 ago, cause: software
2025-04-24 10:44:43 [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 10:44:43 [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 10:44:43 [debug] Moves scheduled 8185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter 2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:44:43 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16822, writes 0 timeouts 0
2025-04-24 10:44:43 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36164/37165
2025-04-24 10:44:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:43 [info] currentZPosition:0.0697
2025-04-24 10:44:45 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:45 [debug] Diagnostics for board 50:
2025-04-24 10:44:45 [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 10:44:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:49 ago, cause: software
2025-04-24 10:44:45 [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 10:44:45 [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 10:44:45 [debug] Moves scheduled 8189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6147, max=17045
Sync err accum 95, peak jitter 2/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:45 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17058, writes 0 timeouts 0
2025-04-24 10:44:45 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37170
2025-04-24 10:44:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:45 [info] currentZPosition:0.0701
2025-04-24 10:44:46 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:46 [debug] Diagnostics for board 50:
2025-04-24 10:44:46 [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 10:44:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:51 ago, cause: software
2025-04-24 10:44:46 [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 10:44:46 [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 10:44:46 [debug] Moves scheduled 8193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:46 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16152, writes 0 timeouts 0
2025-04-24 10:44:46 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37171
2025-04-24 10:44:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:46 [info] currentZPosition:0.0715
2025-04-24 10:44:46 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:47 [debug] Stopped at height 0.072 mm
2025-04-24 10:44:47 [debug] Diagnostics for board 50:
2025-04-24 10:44:47 [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 10:44:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:52 ago, cause: software
2025-04-24 10:44:47 [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 10:44:47 [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 10:44:47 [debug] Moves scheduled 8199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 111, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:44:47 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 21023, writes 0 timeouts 0
2025-04-24 10:44:47 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37173
2025-04-24 10:44:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:48 [info] currentZPosition:0.0717
2025-04-24 10:44:48 [debug] Stopped at height 0.072 mm
2025-04-24 10:44:49 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:49 [debug] Diagnostics for board 50:
2025-04-24 10:44:49 [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 10:44:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:54 ago, cause: software
2025-04-24 10:44:49 [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 10:44:49 [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 10:44:49 [debug] Moves scheduled 8205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6465, max=17857
Sync err accum 117, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:44:49 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20669, writes 0 timeouts 0
2025-04-24 10:44:49 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36162/37171
2025-04-24 10:44:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:49 [info] currentZPosition:0.0710
2025-04-24 10:44:50 [debug] Stopped at height 0.072 mm
2025-04-24 10:44:50 [debug] Diagnostics for board 50:
2025-04-24 10:44:50 [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 10:44:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:55 ago, cause: software
2025-04-24 10:44:50 [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 10:44:50 [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 10:44:50 [debug] Moves scheduled 8209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=18292
Sync err accum 119, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:50 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16938, writes 0 timeouts 0
2025-04-24 10:44:50 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 10:44:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:51 [info] currentZPosition:0.0717
2025-04-24 10:44:52 [debug] Stopped at height 0.072 mm
2025-04-24 10:44:52 [debug] Diagnostics for board 50:
2025-04-24 10:44:52 [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 10:44:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:57 ago, cause: software
2025-04-24 10:44:52 [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 10:44:52 [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 10:44:52 [debug] Moves scheduled 8213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17441
Sync err accum 119, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:52 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16614, writes 0 timeouts 0
2025-04-24 10:44:52 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37175
2025-04-24 10:44:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:52 [info] currentZPosition:0.0716
2025-04-24 10:44:53 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:53 [debug] Diagnostics for board 50:
2025-04-24 10:44:53 [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 10:44:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:58 ago, cause: software
2025-04-24 10:44:53 [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 10:44:53 [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 10:44:53 [debug] Moves scheduled 8217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 118, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:53 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17205, writes 0 timeouts 0
2025-04-24 10:44:53 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37173
2025-04-24 10:44:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:53 [info] currentZPosition:0.0714
2025-04-24 10:44:55 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:55 [debug] Diagnostics for board 50:
2025-04-24 10:44:55 [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 10:44:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:46:59 ago, cause: software
2025-04-24 10:44:55 [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 10:44:55 [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 10:44:55 [debug] Moves scheduled 8221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=80, frequency (Hz): min=6756, max=17045
Sync err accum 111, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:44:55 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17002, writes 0 timeouts 0
2025-04-24 10:44:55 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37175
2025-04-24 10:44:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:55 [info] currentZPosition:0.0702
2025-04-24 10:44:56 [debug] Stopped at height 0.071 mm
2025-04-24 10:44:56 [debug] Diagnostics for board 50:
2025-04-24 10:44:56 [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 10:44:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:01 ago, cause: software
2025-04-24 10:44:56 [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 10:44:56 [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 10:44:56 [debug] Moves scheduled 8225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6097, max=17857
Sync err accum 105, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:56 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16860, writes 0 timeouts 0
2025-04-24 10:44:56 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36102/37174
2025-04-24 10:44:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:56 [info] currentZPosition:0.0712
2025-04-24 10:44:57 [debug] Stopped at height 0.072 mm
2025-04-24 10:44:57 [debug] Diagnostics for board 50:
2025-04-24 10:44:57 [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 10:44:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:02 ago, cause: software
2025-04-24 10:44:57 [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 10:44:57 [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 10:44:57 [debug] Moves scheduled 8229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 95, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:57 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16457, writes 0 timeouts 0
2025-04-24 10:44:57 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36159/37171
2025-04-24 10:44:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:57 [info] currentZPosition:0.0716
2025-04-24 10:44:59 [debug] Stopped at height 0.070 mm
2025-04-24 10:44:59 [debug] Diagnostics for board 50:
2025-04-24 10:44:59 [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 10:44:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:03 ago, cause: software
2025-04-24 10:44:59 [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 10:44:59 [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 10:44:59 [debug] Moves scheduled 8233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 82, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:44:59 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17520, writes 0 timeouts 0
2025-04-24 10:44:59 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36114/37178
2025-04-24 10:44:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:44:59 [info] currentZPosition:0.0704
2025-04-24 10:45:00 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:00 [debug] Diagnostics for board 50:
2025-04-24 10:45:00 [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 10:45:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:05 ago, cause: software
2025-04-24 10:45:00 [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 10:45:00 [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 10:45:00 [debug] Moves scheduled 8237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:00 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16286, writes 0 timeouts 0
2025-04-24 10:45:00 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37177
2025-04-24 10:45:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:00 [info] currentZPosition:0.0714
2025-04-24 10:45:01 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:01 [debug] Diagnostics for board 50:
2025-04-24 10:45:01 [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 10:45:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:06 ago, cause: software
2025-04-24 10:45:01 [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 10:45:01 [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 10:45:01 [debug] Moves scheduled 8241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 62, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:01 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17102, writes 0 timeouts 0
2025-04-24 10:45:01 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37178
2025-04-24 10:45:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:01 [info] currentZPosition:0.0715
2025-04-24 10:45:03 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:03 [debug] Diagnostics for board 50:
2025-04-24 10:45:03 [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 10:45:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:07 ago, cause: software
2025-04-24 10:45:03 [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 10:45:03 [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 10:45:03 [debug] Moves scheduled 8245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 74, peak jitter 2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:03 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16591, writes 0 timeouts 0
2025-04-24 10:45:03 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36156/37173
2025-04-24 10:45:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:03 [info] currentZPosition:0.0713
2025-04-24 10:45:04 [debug] Stopped at height 0.070 mm
2025-04-24 10:45:04 [debug] Diagnostics for board 50:
2025-04-24 10:45:04 [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 10:45:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:09 ago, cause: software
2025-04-24 10:45:04 [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 10:45:04 [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 10:45:04 [debug] Moves scheduled 8249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:45:04 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17636, writes 0 timeouts 0
2025-04-24 10:45:04 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36107/37171
2025-04-24 10:45:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:04 [info] currentZPosition:0.0697
2025-04-24 10:45:04 [debug] Stopped at height 0.068 mm
2025-04-24 10:45:06 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:06 [debug] Diagnostics for board 50:
2025-04-24 10:45:06 [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 10:45:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:10 ago, cause: software
2025-04-24 10:45:06 [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 10:45:06 [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 10:45:06 [debug] Moves scheduled 8255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17857
Sync err accum 96, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:45:06 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20125, writes 0 timeouts 0
2025-04-24 10:45:06 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36160/37172
2025-04-24 10:45:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:06 [info] currentZPosition:0.0714
2025-04-24 10:45:06 [debug] Stopped at height 0.070 mm
2025-04-24 10:45:07 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:07 [debug] Diagnostics for board 50:
2025-04-24 10:45:07 [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 10:45:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:12 ago, cause: software
2025-04-24 10:45:07 [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 10:45:07 [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 10:45:07 [debug] Moves scheduled 8261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6521, max=17857
Sync err accum 103, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:07 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21321, writes 0 timeouts 0
2025-04-24 10:45:07 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36096/37176
2025-04-24 10:45:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:07 [info] currentZPosition:0.0707
2025-04-24 10:45:09 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:09 [debug] Diagnostics for board 50:
2025-04-24 10:45:09 [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 10:45:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:13 ago, cause: software
2025-04-24 10:45:09 [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 10:45:09 [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 10:45:09 [debug] Moves scheduled 8265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:09 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16231, writes 0 timeouts 0
2025-04-24 10:45:09 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36046/37173
2025-04-24 10:45:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:09 [info] currentZPosition:0.0719
2025-04-24 10:45:10 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:10 [debug] Diagnostics for board 50:
2025-04-24 10:45:10 [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 10:45:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:47:15 ago, cause: software
2025-04-24 10:45:10 [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 10:45:10 [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 10:45:10 [debug] Moves scheduled 8269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 109, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:10 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17238, writes 0 timeouts 0
2025-04-24 10:45:10 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37176
2025-04-24 10:45:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:10 [info] currentZPosition:0.0717
2025-04-24 10:45:11 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:11 [debug] Diagnostics for board 50:
2025-04-24 10:45:11 [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 10:45:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:16 ago, cause: software
2025-04-24 10:45:11 [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 10:45:11 [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 10:45:11 [debug] Moves scheduled 8273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:11 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16731, writes 0 timeouts 0
2025-04-24 10:45:11 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37174
2025-04-24 10:45:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:11 [info] currentZPosition:0.0712
2025-04-24 10:45:13 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:13 [debug] Diagnostics for board 50:
2025-04-24 10:45:13 [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 10:45:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:18 ago, cause: software
2025-04-24 10:45:13 [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 10:45:13 [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 10:45:13 [debug] Moves scheduled 8277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 104, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:45:13 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16770, writes 0 timeouts 0
2025-04-24 10:45:13 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 10:45:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8687, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:13 [info] currentZPosition:0.0725
2025-04-24 10:45:13 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:14 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:14 [debug] Diagnostics for board 50:
2025-04-24 10:45:14 [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 10:45:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:19 ago, cause: software
2025-04-24 10:45:14 [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 10:45:14 [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 10:45:14 [debug] Moves scheduled 8283, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6147, max=17857
Sync err accum 99, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:14 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20984, writes 0 timeouts 0
2025-04-24 10:45:14 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37177
2025-04-24 10:45:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:14 [info] currentZPosition:0.0709
2025-04-24 10:45:16 [debug] Stopped at height 0.070 mm
2025-04-24 10:45:16 [debug] Diagnostics for board 50:
2025-04-24 10:45:16 [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 10:45:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:21 ago, cause: software
2025-04-24 10:45:16 [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 10:45:16 [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 10:45:16 [debug] Moves scheduled 8287, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 90, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294934060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:16 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17532, writes 0 timeouts 0
2025-04-24 10:45:16 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36102/37177
2025-04-24 10:45:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:16 [info] currentZPosition:0.0697
2025-04-24 10:45:17 [debug] Stopped at height 0.069 mm
2025-04-24 10:45:17 [debug] Diagnostics for board 50:
2025-04-24 10:45:17 [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 10:45:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:22 ago, cause: software
2025-04-24 10:45:17 [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 10:45:17 [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 10:45:17 [debug] Moves scheduled 8291, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:17 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16752, writes 0 timeouts 0
2025-04-24 10:45:17 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37175
2025-04-24 10:45:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:17 [info] currentZPosition:0.0691
2025-04-24 10:45:18 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:18 [debug] Diagnostics for board 50:
2025-04-24 10:45:18 [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 10:45:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:23 ago, cause: software
2025-04-24 10:45:18 [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 10:45:18 [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 10:45:18 [debug] Moves scheduled 8295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:18 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16566, writes 0 timeouts 0
2025-04-24 10:45:18 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37178
2025-04-24 10:45:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:19 [info] currentZPosition:0.0714
2025-04-24 10:45:19 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:20 [debug] Stopped at height 0.070 mm
2025-04-24 10:45:20 [debug] Diagnostics for board 50:
2025-04-24 10:45:20 [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 10:45:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:25 ago, cause: software
2025-04-24 10:45:20 [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 10:45:20 [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 10:45:20 [debug] Moves scheduled 8301, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 63, peak jitter -3/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:20 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20785, writes 0 timeouts 0
2025-04-24 10:45:20 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36157/37175
2025-04-24 10:45:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:20 [info] currentZPosition:0.0705
2025-04-24 10:45:21 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:21 [debug] Diagnostics for board 50:
2025-04-24 10:45:21 [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 10:45:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:26 ago, cause: software
2025-04-24 10:45:21 [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 10:45:21 [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 10:45:21 [debug] Moves scheduled 8305, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter 2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935761 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:45:21 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16553, writes 0 timeouts 0
2025-04-24 10:45:21 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37171
2025-04-24 10:45:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:22 [info] currentZPosition:0.0725
2025-04-24 10:45:22 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:23 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:23 [debug] Diagnostics for board 50:
2025-04-24 10:45:23 [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 10:45:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:28 ago, cause: software
2025-04-24 10:45:23 [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 10:45:23 [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 10:45:23 [debug] Moves scheduled 8311, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=7009, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:45:23 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20850, writes 0 timeouts 0
2025-04-24 10:45:23 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36154/37169
2025-04-24 10:45:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:23 [info] currentZPosition:0.0715
2025-04-24 10:45:25 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:25 [debug] Diagnostics for board 50:
2025-04-24 10:45:25 [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 10:45:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:29 ago, cause: software
2025-04-24 10:45:25 [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 10:45:25 [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 10:45:25 [debug] Moves scheduled 8315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:25 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17353, writes 0 timeouts 0
2025-04-24 10:45:25 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36094/37174
2025-04-24 10:45:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:25 [info] currentZPosition:0.0711
2025-04-24 10:45:26 [debug] Stopped at height 0.070 mm
2025-04-24 10:45:26 [debug] Diagnostics for board 50:
2025-04-24 10:45:26 [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 10:45:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:31 ago, cause: software
2025-04-24 10:45:26 [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 10:45:26 [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 10:45:26 [debug] Moves scheduled 8319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=18292
Sync err accum 108, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:26 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16863, writes 0 timeouts 0
2025-04-24 10:45:26 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37174
2025-04-24 10:45:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:26 [info] currentZPosition:0.0701
2025-04-24 10:45:27 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:27 [debug] Diagnostics for board 50:
2025-04-24 10:45:27 [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 10:45:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:32 ago, cause: software
2025-04-24 10:45:27 [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 10:45:27 [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 10:45:27 [debug] Moves scheduled 8323, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 113, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:27 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16534, writes 0 timeouts 0
2025-04-24 10:45:27 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37175
2025-04-24 10:45:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:27 [info] currentZPosition:0.0721
2025-04-24 10:45:28 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:29 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:29 [debug] Diagnostics for board 50:
2025-04-24 10:45:29 [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 10:45:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:34 ago, cause: software
2025-04-24 10:45:29 [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 10:45:29 [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 10:45:29 [debug] Moves scheduled 8329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 116, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:29 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20752, writes 0 timeouts 0
2025-04-24 10:45:29 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36281/37174
2025-04-24 10:45:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:29 [info] currentZPosition:0.0711
2025-04-24 10:45:30 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:30 [debug] Diagnostics for board 50:
2025-04-24 10:45:30 [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 10:45:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:35 ago, cause: software
2025-04-24 10:45:30 [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 10:45:30 [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 10:45:30 [debug] Moves scheduled 8333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 115, 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 4294936238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 10:45:30 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17144, writes 0 timeouts 0
2025-04-24 10:45:30 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37173
2025-04-24 10:45:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:30 [info] currentZPosition:0.0711
2025-04-24 10:45:32 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:32 [debug] Diagnostics for board 50:
2025-04-24 10:45:32 [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 10:45:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:36 ago, cause: software
2025-04-24 10:45:32 [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 10:45:32 [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 10:45:32 [debug] Moves scheduled 8337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 116, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:32 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16325, writes 0 timeouts 0
2025-04-24 10:45:32 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37175
2025-04-24 10:45:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:32 [info] currentZPosition:0.0720
2025-04-24 10:45:33 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:33 [debug] Diagnostics for board 50:
2025-04-24 10:45:33 [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 10:45:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:38 ago, cause: software
2025-04-24 10:45:33 [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 10:45:33 [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 10:45:33 [debug] Moves scheduled 8341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 112, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:33 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17372, writes 0 timeouts 0
2025-04-24 10:45:33 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 10:45:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:33 [info] currentZPosition:0.0715
2025-04-24 10:45:34 [debug] Stopped at height 0.069 mm
2025-04-24 10:45:34 [debug] Diagnostics for board 50:
2025-04-24 10:45:34 [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 10:45:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:47:39 ago, cause: software
2025-04-24 10:45:34 [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 10:45:34 [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 10:45:34 [debug] Moves scheduled 8345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6696, max=17857
Sync err accum 106, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:34 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17308, writes 0 timeouts 0
2025-04-24 10:45:34 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37170
2025-04-24 10:45:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:34 [info] currentZPosition:0.0693
2025-04-24 10:45:35 [debug] Stopped at height 0.070 mm
2025-04-24 10:45:36 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:36 [debug] Diagnostics for board 50:
2025-04-24 10:45:36 [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 10:45:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:41 ago, cause: software
2025-04-24 10:45:36 [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 10:45:36 [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 10:45:36 [debug] Moves scheduled 8351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 95, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:36 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20092, writes 0 timeouts 0
2025-04-24 10:45:36 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36104/37177
2025-04-24 10:45:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:36 [info] currentZPosition:0.0725
2025-04-24 10:45:36 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:38 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:38 [debug] Diagnostics for board 50:
2025-04-24 10:45:38 [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 10:45:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:42 ago, cause: software
2025-04-24 10:45:38 [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 10:45:38 [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 10:45:38 [debug] Moves scheduled 8357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:38 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20705, writes 0 timeouts 0
2025-04-24 10:45:38 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37178
2025-04-24 10:45:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:38 [info] currentZPosition:0.0719
2025-04-24 10:45:39 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:39 [debug] Diagnostics for board 50:
2025-04-24 10:45:39 [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 10:45:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:44 ago, cause: software
2025-04-24 10:45:39 [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 10:45:39 [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 10:45:39 [debug] Moves scheduled 8361, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:39 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17208, writes 0 timeouts 0
2025-04-24 10:45:39 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36095/37177
2025-04-24 10:45:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:39 [info] currentZPosition:0.0718
2025-04-24 10:45:40 [debug] Stopped at height 0.073 mm
2025-04-24 10:45:40 [debug] Diagnostics for board 50:
2025-04-24 10:45:40 [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 10:45:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:45 ago, cause: software
2025-04-24 10:45:40 [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 10:45:40 [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 10:45:40 [debug] Moves scheduled 8365, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=506, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:45:40 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16324, writes 11 timeouts 1
2025-04-24 10:45:40 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36396/37175
2025-04-24 10:45:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:40 [info] currentZPosition:0.0727
2025-04-24 10:45:42 [debug] Stopped at height 0.073 mm
2025-04-24 10:45:42 [debug] Diagnostics for board 50:
2025-04-24 10:45:42 [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 10:45:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:46 ago, cause: software
2025-04-24 10:45:42 [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 10:45:42 [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 10:45:42 [debug] Moves scheduled 8369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:42 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17152, writes 0 timeouts 0
2025-04-24 10:45:42 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37174
2025-04-24 10:45:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8711, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:42 [info] currentZPosition:0.0728
2025-04-24 10:45:43 [debug] Stopped at height 0.073 mm
2025-04-24 10:45:43 [debug] Diagnostics for board 50:
2025-04-24 10:45:43 [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 10:45:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:48 ago, cause: software
2025-04-24 10:45:43 [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 10:45:43 [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 10:45:43 [debug] Moves scheduled 8373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:43 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16515, writes 0 timeouts 0
2025-04-24 10:45:43 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36378/37174
2025-04-24 10:45:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:43 [info] currentZPosition:0.0731
2025-04-24 10:45:44 [debug] Stopped at height 0.073 mm
2025-04-24 10:45:44 [debug] Diagnostics for board 50:
2025-04-24 10:45:44 [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 10:45:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:49 ago, cause: software
2025-04-24 10:45:44 [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 10:45:44 [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 10:45:44 [debug] Moves scheduled 8377, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6465, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294928594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:44 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17392, writes 0 timeouts 0
2025-04-24 10:45:44 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37173
2025-04-24 10:45:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:44 [info] currentZPosition:0.0726
2025-04-24 10:45:46 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:46 [debug] Diagnostics for board 50:
2025-04-24 10:45:46 [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 10:45:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:51 ago, cause: software
2025-04-24 10:45:46 [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 10:45:46 [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 10:45:46 [debug] Moves scheduled 8381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:46 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17086, writes 0 timeouts 0
2025-04-24 10:45:46 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36394/37175
2025-04-24 10:45:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:46 [info] currentZPosition:0.0710
2025-04-24 10:45:46 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:47 [debug] Stopped at height 0.073 mm
2025-04-24 10:45:47 [debug] Diagnostics for board 50:
2025-04-24 10:45:47 [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 10:45:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:52 ago, cause: software
2025-04-24 10:45:47 [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 10:45:47 [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 10:45:47 [debug] Moves scheduled 8387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5813, max=17045
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:47 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20490, writes 0 timeouts 0
2025-04-24 10:45:47 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37176
2025-04-24 10:45:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:47 [info] currentZPosition:0.0728
2025-04-24 10:45:49 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:49 [debug] Diagnostics for board 50:
2025-04-24 10:45:49 [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 10:45:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:54 ago, cause: software
2025-04-24 10:45:49 [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 10:45:49 [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 10:45:49 [debug] Moves scheduled 8391, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6696, max=18292
Sync err accum 75, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:49 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17264, writes 0 timeouts 0
2025-04-24 10:45:49 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37175
2025-04-24 10:45:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:49 [info] currentZPosition:0.0707
2025-04-24 10:45:49 [debug] Stopped at height 0.069 mm
2025-04-24 10:45:50 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:50 [debug] Diagnostics for board 50:
2025-04-24 10:45:50 [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 10:45:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:55 ago, cause: software
2025-04-24 10:45:50 [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 10:45:50 [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 10:45:50 [debug] Moves scheduled 8397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 68, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:50 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20758, writes 0 timeouts 0
2025-04-24 10:45:50 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36110/37174
2025-04-24 10:45:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:50 [info] currentZPosition:0.0723
2025-04-24 10:45:51 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:52 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:52 [debug] Diagnostics for board 50:
2025-04-24 10:45:52 [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 10:45:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:57 ago, cause: software
2025-04-24 10:45:52 [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 10:45:52 [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 10:45:52 [debug] Moves scheduled 8403, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 67, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:52 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20409, writes 0 timeouts 0
2025-04-24 10:45:52 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37177
2025-04-24 10:45:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:52 [info] currentZPosition:0.0725
2025-04-24 10:45:52 [debug] Stopped at height 0.075 mm
2025-04-24 10:45:53 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:54 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:54 [debug] Diagnostics for board 50:
2025-04-24 10:45:54 [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 10:45:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:47:59 ago, cause: software
2025-04-24 10:45:54 [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 10:45:54 [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 10:45:54 [debug] Moves scheduled 8411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294934472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7
2025-04-24 10:45:54 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 25330, writes 0 timeouts 0
2025-04-24 10:45:54 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 288, adv 36106/37175
2025-04-24 10:45:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:54 [info] currentZPosition:0.0720
2025-04-24 10:45:55 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:55 [debug] Diagnostics for board 50:
2025-04-24 10:45:55 [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 10:45:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:00 ago, cause: software
2025-04-24 10:45:55 [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 10:45:55 [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 10:45:55 [debug] Moves scheduled 8415, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17045
Sync err accum 83, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:45:55 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16545, writes 0 timeouts 0
2025-04-24 10:45:55 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36395/37175
2025-04-24 10:45:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:55 [info] currentZPosition:0.0722
2025-04-24 10:45:57 [debug] Stopped at height 0.071 mm
2025-04-24 10:45:57 [debug] Diagnostics for board 50:
2025-04-24 10:45:57 [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 10:45:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:02 ago, cause: software
2025-04-24 10:45:57 [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 10:45:57 [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 10:45:57 [debug] Moves scheduled 8419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=18292
Sync err accum 88, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:45:57 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17372, writes 0 timeouts 0
2025-04-24 10:45:57 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36095/37173
2025-04-24 10:45:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:57 [info] currentZPosition:0.0714
2025-04-24 10:45:58 [debug] Stopped at height 0.072 mm
2025-04-24 10:45:58 [debug] Diagnostics for board 50:
2025-04-24 10:45:58 [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 10:45:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:03 ago, cause: software
2025-04-24 10:45:58 [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 10:45:58 [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 10:45:58 [debug] Moves scheduled 8423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 88, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:45:58 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16408, writes 0 timeouts 0
2025-04-24 10:45:58 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36395/37175
2025-04-24 10:45:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:45:58 [info] currentZPosition:0.0722
2025-04-24 10:45:59 [debug] Stopped at height 0.073 mm
2025-04-24 10:45:59 [debug] Diagnostics for board 50:
2025-04-24 10:45:59 [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 10:45:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:48:04 ago, cause: software
2025-04-24 10:45:59 [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 10:45:59 [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 10:45:59 [debug] Moves scheduled 8427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:45:59 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17074, writes 0 timeouts 0
2025-04-24 10:45:59 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36108/37175
2025-04-24 10:45:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:00 [info] currentZPosition:0.0728
2025-04-24 10:46:01 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:01 [debug] Diagnostics for board 50:
2025-04-24 10:46:01 [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 10:46:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:06 ago, cause: software
2025-04-24 10:46:01 [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 10:46:01 [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 10:46:01 [debug] Moves scheduled 8431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 82, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:01 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16453, writes 0 timeouts 0
2025-04-24 10:46:01 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37176
2025-04-24 10:46:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:01 [info] currentZPosition:0.0732
2025-04-24 10:46:02 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:02 [debug] Diagnostics for board 50:
2025-04-24 10:46:02 [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 10:46:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:07 ago, cause: software
2025-04-24 10:46:02 [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 10:46:02 [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 10:46:02 [debug] Moves scheduled 8435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 77, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:02 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17625, writes 0 timeouts 0
2025-04-24 10:46:02 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37175
2025-04-24 10:46:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:02 [info] currentZPosition:0.0718
2025-04-24 10:46:03 [debug] Stopped at height 0.071 mm
2025-04-24 10:46:04 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:04 [debug] Diagnostics for board 50:
2025-04-24 10:46:04 [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 10:46:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:09 ago, cause: software
2025-04-24 10:46:04 [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 10:46:04 [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 10:46:04 [debug] Moves scheduled 8441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:04 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20311, writes 0 timeouts 0
2025-04-24 10:46:04 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37176
2025-04-24 10:46:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:04 [info] currentZPosition:0.0730
2025-04-24 10:46:04 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:05 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:05 [debug] Diagnostics for board 50:
2025-04-24 10:46:05 [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 10:46:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:10 ago, cause: software
2025-04-24 10:46:05 [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 10:46:05 [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 10:46:05 [debug] Moves scheduled 8447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 63, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:05 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20871, writes 0 timeouts 0
2025-04-24 10:46:05 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37179
2025-04-24 10:46:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:06 [info] currentZPosition:0.0735
2025-04-24 10:46:06 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:07 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:07 [debug] Diagnostics for board 50:
2025-04-24 10:46:07 [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 10:46:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:48:12 ago, cause: software
2025-04-24 10:46:07 [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 10:46:07 [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 10:46:07 [debug] Moves scheduled 8453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5905, max=18292
Sync err accum 83, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:46:07 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20259, writes 0 timeouts 0
2025-04-24 10:46:07 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36397/37173
2025-04-24 10:46:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:07 [info] currentZPosition:0.0743
2025-04-24 10:46:08 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:09 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:09 [debug] Diagnostics for board 50:
2025-04-24 10:46:09 [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 10:46:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:14 ago, cause: software
2025-04-24 10:46:09 [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 10:46:09 [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 10:46:09 [debug] Moves scheduled 8459, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 102, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:09 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 21378, writes 0 timeouts 0
2025-04-24 10:46:09 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37172
2025-04-24 10:46:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:09 [info] currentZPosition:0.0733
2025-04-24 10:46:10 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:10 [debug] Diagnostics for board 50:
2025-04-24 10:46:10 [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 10:46:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:15 ago, cause: software
2025-04-24 10:46:10 [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 10:46:10 [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 10:46:10 [debug] Moves scheduled 8463, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:10 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16638, writes 0 timeouts 0
2025-04-24 10:46:10 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37172
2025-04-24 10:46:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:10 [info] currentZPosition:0.0730
2025-04-24 10:46:12 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:12 [debug] Diagnostics for board 50:
2025-04-24 10:46:12 [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 10:46:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:16 ago, cause: software
2025-04-24 10:46:12 [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 10:46:12 [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 10:46:12 [debug] Moves scheduled 8467, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 112, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:12 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17204, writes 0 timeouts 0
2025-04-24 10:46:12 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36093/37173
2025-04-24 10:46:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:12 [info] currentZPosition:0.0729
2025-04-24 10:46:13 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:13 [debug] Diagnostics for board 50:
2025-04-24 10:46:13 [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 10:46:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:18 ago, cause: software
2025-04-24 10:46:13 [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 10:46:13 [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 10:46:13 [debug] Moves scheduled 8471, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 115, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:13 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16778, writes 0 timeouts 0
2025-04-24 10:46:13 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37175
2025-04-24 10:46:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:13 [info] currentZPosition:0.0724
2025-04-24 10:46:14 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:14 [debug] Diagnostics for board 50:
2025-04-24 10:46:14 [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 10:46:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:19 ago, cause: software
2025-04-24 10:46:14 [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 10:46:14 [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 10:46:14 [debug] Moves scheduled 8475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 115, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:14 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16767, writes 0 timeouts 0
2025-04-24 10:46:14 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37175
2025-04-24 10:46:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:14 [info] currentZPosition:0.0736
2025-04-24 10:46:16 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:16 [debug] Diagnostics for board 50:
2025-04-24 10:46:16 [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 10:46:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:20 ago, cause: software
2025-04-24 10:46:16 [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 10:46:16 [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 10:46:16 [debug] Moves scheduled 8479, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 112, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:16 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16779, writes 0 timeouts 0
2025-04-24 10:46:16 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37175
2025-04-24 10:46:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:16 [info] currentZPosition:0.0730
2025-04-24 10:46:17 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:17 [debug] Diagnostics for board 50:
2025-04-24 10:46:17 [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 10:46:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:22 ago, cause: software
2025-04-24 10:46:17 [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 10:46:17 [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 10:46:17 [debug] Moves scheduled 8483, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 109, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:46:17 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17109, writes 0 timeouts 0
2025-04-24 10:46:17 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37174
2025-04-24 10:46:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:17 [info] currentZPosition:0.0733
2025-04-24 10:46:18 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:18 [debug] Diagnostics for board 50:
2025-04-24 10:46:18 [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 10:46:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:23 ago, cause: software
2025-04-24 10:46:18 [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 10:46:18 [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 10:46:18 [debug] Moves scheduled 8487, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 104, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:46:18 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16752, writes 0 timeouts 0
2025-04-24 10:46:18 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37176
2025-04-24 10:46:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:18 [info] currentZPosition:0.0728
2025-04-24 10:46:20 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:20 [debug] Diagnostics for board 50:
2025-04-24 10:46:20 [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 10:46:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:24 ago, cause: software
2025-04-24 10:46:20 [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 10:46:20 [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 10:46:20 [debug] Moves scheduled 8491, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=18292
Sync err accum 95, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:20 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16686, writes 0 timeouts 0
2025-04-24 10:46:20 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37174
2025-04-24 10:46:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:20 [info] currentZPosition:0.0743
2025-04-24 10:46:20 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:21 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:21 [debug] Diagnostics for board 50:
2025-04-24 10:46:21 [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 10:46:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:26 ago, cause: software
2025-04-24 10:46:21 [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 10:46:21 [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 10:46:21 [debug] Moves scheduled 8497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=97, frequency (Hz): min=6250, max=17045
Sync err accum 79, peak jitter -3/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:46:21 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20914, writes 0 timeouts 0
2025-04-24 10:46:21 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36397/37177
2025-04-24 10:46:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:21 [info] currentZPosition:0.0728
2025-04-24 10:46:23 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:23 [debug] Diagnostics for board 50:
2025-04-24 10:46:23 [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 10:46:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:27 ago, cause: software
2025-04-24 10:46:23 [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 10:46:23 [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 10:46:23 [debug] Moves scheduled 8501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6410, max=17045
Sync err accum 65, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:46:23 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17000, writes 0 timeouts 0
2025-04-24 10:46:23 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37177
2025-04-24 10:46:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:23 [info] currentZPosition:0.0734
2025-04-24 10:46:24 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:24 [debug] Diagnostics for board 50:
2025-04-24 10:46:24 [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 10:46:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:29 ago, cause: software
2025-04-24 10:46:24 [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 10:46:24 [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 10:46:24 [debug] Moves scheduled 8505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 65, peak jitter -2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:24 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16561, writes 0 timeouts 0
2025-04-24 10:46:24 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37174
2025-04-24 10:46:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:24 [info] currentZPosition:0.0737
2025-04-24 10:46:25 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:25 [debug] Diagnostics for board 50:
2025-04-24 10:46:25 [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 10:46:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:30 ago, cause: software
2025-04-24 10:46:25 [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 10:46:25 [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 10:46:25 [debug] Moves scheduled 8509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 82, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:46:25 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16953, writes 0 timeouts 0
2025-04-24 10:46:25 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37171
2025-04-24 10:46:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:25 [info] currentZPosition:0.0743
2025-04-24 10:46:27 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:27 [debug] Diagnostics for board 50:
2025-04-24 10:46:27 [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 10:46:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:31 ago, cause: software
2025-04-24 10:46:27 [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 10:46:27 [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 10:46:27 [debug] Moves scheduled 8513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=97, frequency (Hz): min=6818, max=17045
Sync err accum 94, 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 4294936496 ticks, disabled
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 10:46:27 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17228, writes 0 timeouts 0
2025-04-24 10:46:27 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37173
2025-04-24 10:46:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:27 [info] currentZPosition:0.0724
2025-04-24 10:46:27 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:28 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:28 [debug] Diagnostics for board 50:
2025-04-24 10:46:28 [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 10:46:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:33 ago, cause: software
2025-04-24 10:46:28 [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 10:46:28 [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 10:46:28 [debug] Moves scheduled 8519, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17857
Sync err accum 107, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:28 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20659, writes 0 timeouts 0
2025-04-24 10:46:28 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36099/37172
2025-04-24 10:46:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:28 [info] currentZPosition:0.0740
2025-04-24 10:46:29 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:30 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:30 [debug] Diagnostics for board 50:
2025-04-24 10:46:30 [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 10:46:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:35 ago, cause: software
2025-04-24 10:46:30 [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 10:46:30 [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 10:46:30 [debug] Moves scheduled 8525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6048, max=17857
Sync err accum 116, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:30 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20460, writes 0 timeouts 0
2025-04-24 10:46:30 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37171
2025-04-24 10:46:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:30 [info] currentZPosition:0.0740
2025-04-24 10:46:31 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:31 [debug] Diagnostics for board 50:
2025-04-24 10:46:31 [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 10:46:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:36 ago, cause: software
2025-04-24 10:46:31 [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 10:46:31 [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 10:46:31 [debug] Moves scheduled 8529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=627, max=17857
Sync err accum 121, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:31 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17288, writes 11 timeouts 1
2025-04-24 10:46:31 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37172
2025-04-24 10:46:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:31 [info] currentZPosition:0.0735
2025-04-24 10:46:33 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:33 [debug] Diagnostics for board 50:
2025-04-24 10:46:33 [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 10:46:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:37 ago, cause: software
2025-04-24 10:46:33 [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 10:46:33 [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 10:46:33 [debug] Moves scheduled 8533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 123, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:33 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16675, writes 0 timeouts 0
2025-04-24 10:46:33 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37175
2025-04-24 10:46:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:33 [info] currentZPosition:0.0734
2025-04-24 10:46:34 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:34 [debug] Diagnostics for board 50:
2025-04-24 10:46:34 [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 10:46:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:39 ago, cause: software
2025-04-24 10:46:34 [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 10:46:34 [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 10:46:34 [debug] Moves scheduled 8537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17857
Sync err accum 123, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:34 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16905, writes 0 timeouts 0
2025-04-24 10:46:34 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36109/37174
2025-04-24 10:46:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:34 [info] currentZPosition:0.0744
2025-04-24 10:46:35 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:35 [debug] Diagnostics for board 50:
2025-04-24 10:46:35 [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 10:46:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:40 ago, cause: software
2025-04-24 10:46:35 [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 10:46:35 [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 10:46:35 [debug] Moves scheduled 8541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 122, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:35 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17085, writes 0 timeouts 0
2025-04-24 10:46:35 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37173
2025-04-24 10:46:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:35 [info] currentZPosition:0.0727
2025-04-24 10:46:36 [debug] Stopped at height 0.071 mm
2025-04-24 10:46:37 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:37 [debug] Diagnostics for board 50:
2025-04-24 10:46:37 [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 10:46:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:42 ago, cause: software
2025-04-24 10:46:37 [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 10:46:37 [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 10:46:37 [debug] Moves scheduled 8547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 116, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:37 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20977, writes 0 timeouts 0
2025-04-24 10:46:37 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37177
2025-04-24 10:46:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:37 [info] currentZPosition:0.0736
2025-04-24 10:46:37 [debug] Stopped at height 0.075 mm
2025-04-24 10:46:39 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:39 [debug] Diagnostics for board 50:
2025-04-24 10:46:39 [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 10:46:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:44 ago, cause: software
2025-04-24 10:46:39 [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 10:46:39 [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 10:46:39 [debug] Moves scheduled 8553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 106, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:46:39 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20290, writes 0 timeouts 0
2025-04-24 10:46:39 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36148/37176
2025-04-24 10:46:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:39 [info] currentZPosition:0.0738
2025-04-24 10:46:40 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:40 [debug] Diagnostics for board 50:
2025-04-24 10:46:40 [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 10:46:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:45 ago, cause: software
2025-04-24 10:46:40 [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 10:46:40 [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 10:46:40 [debug] Moves scheduled 8557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 93, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:46:40 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17386, writes 0 timeouts 0
2025-04-24 10:46:40 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37175
2025-04-24 10:46:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:40 [info] currentZPosition:0.0730
2025-04-24 10:46:41 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:41 [debug] Diagnostics for board 50:
2025-04-24 10:46:41 [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 10:46:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:46 ago, cause: software
2025-04-24 10:46:41 [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 10:46:41 [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 10:46:41 [debug] Moves scheduled 8561, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=612, max=18292
Sync err accum 78, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:41 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16147, writes 11 timeouts 1
2025-04-24 10:46:41 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36145/37174
2025-04-24 10:46:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:41 [info] currentZPosition:0.0742
2025-04-24 10:46:43 [debug] Stopped at height 0.072 mm
2025-04-24 10:46:43 [debug] Diagnostics for board 50:
2025-04-24 10:46:43 [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 10:46:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:48 ago, cause: software
2025-04-24 10:46:43 [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 10:46:43 [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 10:46:43 [debug] Moves scheduled 8565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 61, peak jitter -3/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:43 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17663, writes 0 timeouts 0
2025-04-24 10:46:43 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37177
2025-04-24 10:46:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:43 [info] currentZPosition:0.0725
2025-04-24 10:46:43 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:44 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:44 [debug] Diagnostics for board 50:
2025-04-24 10:46:44 [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 10:46:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:49 ago, cause: software
2025-04-24 10:46:44 [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 10:46:44 [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 10:46:44 [debug] Moves scheduled 8571, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 73, peak jitter 0/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:46:44 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 19885, writes 0 timeouts 0
2025-04-24 10:46:44 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36159/37173
2025-04-24 10:46:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:44 [info] currentZPosition:0.0742
2025-04-24 10:46:45 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:46 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:46 [debug] Diagnostics for board 50:
2025-04-24 10:46:46 [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 10:46:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:51 ago, cause: software
2025-04-24 10:46:46 [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 10:46:46 [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 10:46:46 [debug] Moves scheduled 8577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 18, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:46:46 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 21009, writes 0 timeouts 0
2025-04-24 10:46:46 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37175
2025-04-24 10:46:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:46 [info] currentZPosition:0.0743
2025-04-24 10:46:47 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:47 [debug] Diagnostics for board 50:
2025-04-24 10:46:47 [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 10:46:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:52 ago, cause: software
2025-04-24 10:46:47 [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 10:46:47 [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 10:46:47 [debug] Moves scheduled 8581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 99, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:46:47 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16617, writes 0 timeouts 0
2025-04-24 10:46:47 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37173
2025-04-24 10:46:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:47 [info] currentZPosition:0.0741
2025-04-24 10:46:49 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:49 [debug] Diagnostics for board 50:
2025-04-24 10:46:49 [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 10:46:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:54 ago, cause: software
2025-04-24 10:46:49 [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 10:46:49 [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 10:46:49 [debug] Moves scheduled 8585, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 103, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:49 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17094, writes 0 timeouts 0
2025-04-24 10:46:49 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36103/37171
2025-04-24 10:46:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:49 [info] currentZPosition:0.0744
2025-04-24 10:46:50 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:50 [debug] Diagnostics for board 50:
2025-04-24 10:46:50 [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 10:46:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:55 ago, cause: software
2025-04-24 10:46:50 [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 10:46:50 [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 10:46:50 [debug] Moves scheduled 8589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:50 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16891, writes 0 timeouts 0
2025-04-24 10:46:50 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37174
2025-04-24 10:46:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:50 [info] currentZPosition:0.0734
2025-04-24 10:46:52 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:52 [debug] Diagnostics for board 50:
2025-04-24 10:46:52 [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 10:46:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:56 ago, cause: software
2025-04-24 10:46:52 [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 10:46:52 [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 10:46:52 [debug] Moves scheduled 8593, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:52 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17322, writes 0 timeouts 0
2025-04-24 10:46:52 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36102/37173
2025-04-24 10:46:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:52 [info] currentZPosition:0.0726
2025-04-24 10:46:53 [debug] Stopped at height 0.073 mm
2025-04-24 10:46:53 [debug] Diagnostics for board 50:
2025-04-24 10:46:53 [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 10:46:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:58 ago, cause: software
2025-04-24 10:46:53 [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 10:46:53 [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 10:46:53 [debug] Moves scheduled 8597, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 114, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:53 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16382, writes 0 timeouts 0
2025-04-24 10:46:53 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36146/37174
2025-04-24 10:46:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:53 [info] currentZPosition:0.0733
2025-04-24 10:46:54 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:54 [debug] Diagnostics for board 50:
2025-04-24 10:46:54 [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 10:46:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:48:59 ago, cause: software
2025-04-24 10:46:54 [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 10:46:54 [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 10:46:54 [debug] Moves scheduled 8601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 111, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:54 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16899, writes 0 timeouts 0
2025-04-24 10:46:54 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37174
2025-04-24 10:46:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:54 [info] currentZPosition:0.0744
2025-04-24 10:46:56 [debug] Stopped at height 0.075 mm
2025-04-24 10:46:56 [debug] Diagnostics for board 50:
2025-04-24 10:46:56 [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 10:46:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:00 ago, cause: software
2025-04-24 10:46:56 [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 10:46:56 [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 10:46:56 [debug] Moves scheduled 8605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 105, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:46:56 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16446, writes 0 timeouts 0
2025-04-24 10:46:56 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36160/37177
2025-04-24 10:46:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8710, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:56 [info] currentZPosition:0.0748
2025-04-24 10:46:57 [debug] Stopped at height 0.074 mm
2025-04-24 10:46:57 [debug] Diagnostics for board 50:
2025-04-24 10:46:57 [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 10:46:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:02 ago, cause: software
2025-04-24 10:46:57 [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 10:46:57 [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 10:46:57 [debug] Moves scheduled 8609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 97, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:46:57 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17326, writes 0 timeouts 0
2025-04-24 10:46:57 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37176
2025-04-24 10:46:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:57 [info] currentZPosition:0.0745
2025-04-24 10:46:58 [debug] Stopped at height 0.075 mm
2025-04-24 10:46:58 [debug] Diagnostics for board 50:
2025-04-24 10:46:58 [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 10:46:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:03 ago, cause: software
2025-04-24 10:46:58 [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 10:46:58 [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 10:46:58 [debug] Moves scheduled 8613, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:46:58 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16510, writes 0 timeouts 0
2025-04-24 10:46:58 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36154/37170
2025-04-24 10:46:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:46:58 [info] currentZPosition:0.0748
2025-04-24 10:47:00 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:00 [debug] Diagnostics for board 50:
2025-04-24 10:47:00 [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 10:47:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:04 ago, cause: software
2025-04-24 10:47:00 [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 10:47:00 [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 10:47:00 [debug] Moves scheduled 8617, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 74, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:47:00 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17444, writes 0 timeouts 0
2025-04-24 10:47:00 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37169
2025-04-24 10:47:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:00 [info] currentZPosition:0.0740
2025-04-24 10:47:01 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:01 [debug] Diagnostics for board 50:
2025-04-24 10:47:01 [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 10:47:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:06 ago, cause: software
2025-04-24 10:47:01 [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 10:47:01 [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 10:47:01 [debug] Moves scheduled 8621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:01 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16422, writes 0 timeouts 0
2025-04-24 10:47:01 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37176
2025-04-24 10:47:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:01 [info] currentZPosition:0.0746
2025-04-24 10:47:02 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:02 [debug] Diagnostics for board 50:
2025-04-24 10:47:02 [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 10:47:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:07 ago, cause: software
2025-04-24 10:47:02 [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 10:47:02 [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 10:47:02 [debug] Moves scheduled 8625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17857
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:02 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17233, writes 0 timeouts 0
2025-04-24 10:47:02 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37171
2025-04-24 10:47:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:02 [info] currentZPosition:0.0745
2025-04-24 10:47:04 [debug] Stopped at height 0.073 mm
2025-04-24 10:47:04 [debug] Diagnostics for board 50:
2025-04-24 10:47:04 [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 10:47:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:08 ago, cause: software
2025-04-24 10:47:04 [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 10:47:04 [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 10:47:04 [debug] Moves scheduled 8629, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:04 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17038, writes 0 timeouts 0
2025-04-24 10:47:04 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36152/37173
2025-04-24 10:47:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:04 [info] currentZPosition:0.0731
2025-04-24 10:47:04 [debug] Stopped at height 0.071 mm
2025-04-24 10:47:04 [debug] Stopped at height 0.073 mm
2025-04-24 10:47:05 [debug] Stopped at height 0.071 mm
2025-04-24 10:47:06 [debug] Stopped at height 0.076 mm
2025-04-24 10:47:06 [debug] Diagnostics for board 50:
2025-04-24 10:47:06 [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 10:47:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:11 ago, cause: software
2025-04-24 10:47:06 [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 10:47:06 [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 10:47:06 [debug] Moves scheduled 8639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 80, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:06 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 28815, writes 0 timeouts 0
2025-04-24 10:47:06 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 290, adv 36105/37175
2025-04-24 10:47:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8691, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:06 [info] currentZPosition:0.0755
2025-04-24 10:47:06 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:08 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:08 [debug] Diagnostics for board 50:
2025-04-24 10:47:08 [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 10:47:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:12 ago, cause: software
2025-04-24 10:47:08 [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 10:47:08 [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 10:47:08 [debug] Moves scheduled 8645, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:08 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20945, writes 0 timeouts 0
2025-04-24 10:47:08 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36166/37173
2025-04-24 10:47:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:08 [info] currentZPosition:0.0746
2025-04-24 10:47:09 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:09 [debug] Diagnostics for board 50:
2025-04-24 10:47:09 [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 10:47:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:14 ago, cause: software
2025-04-24 10:47:09 [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 10:47:09 [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 10:47:09 [debug] Moves scheduled 8649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:09 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17326, writes 0 timeouts 0
2025-04-24 10:47:09 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37172
2025-04-24 10:47:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:09 [info] currentZPosition:0.0741
2025-04-24 10:47:10 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:10 [debug] Diagnostics for board 50:
2025-04-24 10:47:10 [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 10:47:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:15 ago, cause: software
2025-04-24 10:47:10 [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 10:47:10 [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 10:47:10 [debug] Moves scheduled 8653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 70, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:10 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16502, writes 0 timeouts 0
2025-04-24 10:47:10 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37172
2025-04-24 10:47:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:10 [info] currentZPosition:0.0744
2025-04-24 10:47:12 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:12 [debug] Diagnostics for board 50:
2025-04-24 10:47:12 [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 10:47:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:17 ago, cause: software
2025-04-24 10:47:12 [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 10:47:12 [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 10:47:12 [debug] Moves scheduled 8657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 63, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:47:12 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17319, writes 0 timeouts 0
2025-04-24 10:47:12 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37174
2025-04-24 10:47:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:12 [info] currentZPosition:0.0740
2025-04-24 10:47:13 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:13 [debug] Diagnostics for board 50:
2025-04-24 10:47:13 [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 10:47:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:18 ago, cause: software
2025-04-24 10:47:13 [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 10:47:13 [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 10:47:13 [debug] Moves scheduled 8661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:13 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16370, writes 0 timeouts 0
2025-04-24 10:47:13 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36151/37174
2025-04-24 10:47:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:13 [info] currentZPosition:0.0746
2025-04-24 10:47:14 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:14 [debug] Diagnostics for board 50:
2025-04-24 10:47:14 [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 10:47:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:19 ago, cause: software
2025-04-24 10:47:14 [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 10:47:14 [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 10:47:14 [debug] Moves scheduled 8665, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:14 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17143, writes 0 timeouts 0
2025-04-24 10:47:14 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37174
2025-04-24 10:47:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:14 [info] currentZPosition:0.0746
2025-04-24 10:47:16 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:16 [debug] Diagnostics for board 50:
2025-04-24 10:47:16 [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 10:47:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:21 ago, cause: software
2025-04-24 10:47:16 [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 10:47:16 [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 10:47:16 [debug] Moves scheduled 8669, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:16 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16577, writes 0 timeouts 0
2025-04-24 10:47:16 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36144/37173
2025-04-24 10:47:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:16 [info] currentZPosition:0.0746
2025-04-24 10:47:17 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:17 [debug] Diagnostics for board 50:
2025-04-24 10:47:17 [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 10:47:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:22 ago, cause: software
2025-04-24 10:47:17 [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 10:47:17 [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 10:47:17 [debug] Moves scheduled 8673, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:17 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17131, writes 0 timeouts 0
2025-04-24 10:47:17 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37173
2025-04-24 10:47:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:17 [info] currentZPosition:0.0747
2025-04-24 10:47:18 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:18 [debug] Diagnostics for board 50:
2025-04-24 10:47:18 [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 10:47:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:23 ago, cause: software
2025-04-24 10:47:18 [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 10:47:18 [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 10:47:18 [debug] Moves scheduled 8677, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 76, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:47:18 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16641, writes 0 timeouts 0
2025-04-24 10:47:18 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36287/37177
2025-04-24 10:47:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8750, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:19 [info] currentZPosition:0.0745
2025-04-24 10:47:20 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:20 [debug] Diagnostics for board 50:
2025-04-24 10:47:20 [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 10:47:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:25 ago, cause: software
2025-04-24 10:47:20 [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 10:47:20 [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 10:47:20 [debug] Moves scheduled 8681, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=18292
Sync err accum 71, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:20 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16917, writes 0 timeouts 0
2025-04-24 10:47:20 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37177
2025-04-24 10:47:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:20 [info] currentZPosition:0.0752
2025-04-24 10:47:21 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:21 [debug] Diagnostics for board 50:
2025-04-24 10:47:21 [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 10:47:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:26 ago, cause: software
2025-04-24 10:47:21 [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 10:47:21 [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 10:47:21 [debug] Moves scheduled 8685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 65, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:47:21 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16634, writes 0 timeouts 0
2025-04-24 10:47:21 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36405/37177
2025-04-24 10:47:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:21 [info] currentZPosition:0.0750
2025-04-24 10:47:23 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:23 [debug] Diagnostics for board 50:
2025-04-24 10:47:23 [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 10:47:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:27 ago, cause: software
2025-04-24 10:47:23 [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 10:47:23 [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 10:47:23 [debug] Moves scheduled 8689, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:47:23 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17436, writes 0 timeouts 0
2025-04-24 10:47:23 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37177
2025-04-24 10:47:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:23 [info] currentZPosition:0.0743
2025-04-24 10:47:24 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:24 [debug] Diagnostics for board 50:
2025-04-24 10:47:24 [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 10:47:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:29 ago, cause: software
2025-04-24 10:47:24 [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 10:47:24 [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 10:47:24 [debug] Moves scheduled 8693, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 76, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:24 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16545, writes 0 timeouts 0
2025-04-24 10:47:24 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37171
2025-04-24 10:47:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8750, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:24 [info] currentZPosition:0.0747
2025-04-24 10:47:25 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:25 [debug] Diagnostics for board 50:
2025-04-24 10:47:25 [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 10:47:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:30 ago, cause: software
2025-04-24 10:47:25 [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 10:47:25 [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 10:47:25 [debug] Moves scheduled 8697, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=17045
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 4294935329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:25 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17214, writes 0 timeouts 0
2025-04-24 10:47:25 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37176
2025-04-24 10:47:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:25 [info] currentZPosition:0.0744
2025-04-24 10:47:27 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:27 [debug] Diagnostics for board 50:
2025-04-24 10:47:27 [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 10:47:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:31 ago, cause: software
2025-04-24 10:47:27 [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 10:47:27 [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 10:47:27 [debug] Moves scheduled 8701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 86, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:27 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16773, writes 0 timeouts 0
2025-04-24 10:47:27 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36401/37176
2025-04-24 10:47:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:27 [info] currentZPosition:0.0739
2025-04-24 10:47:28 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:28 [debug] Diagnostics for board 50:
2025-04-24 10:47:28 [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 10:47:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:33 ago, cause: software
2025-04-24 10:47:28 [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 10:47:28 [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 10:47:28 [debug] Moves scheduled 8705, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:28 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16778, writes 0 timeouts 0
2025-04-24 10:47:28 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 10:47:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:28 [info] currentZPosition:0.0752
2025-04-24 10:47:28 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:30 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:30 [debug] Diagnostics for board 50:
2025-04-24 10:47:30 [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 10:47:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:34 ago, cause: software
2025-04-24 10:47:30 [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 10:47:30 [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 10:47:30 [debug] Moves scheduled 8711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:30 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20483, writes 0 timeouts 0
2025-04-24 10:47:30 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36402/37172
2025-04-24 10:47:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:30 [info] currentZPosition:0.0753
2025-04-24 10:47:31 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:31 [debug] Diagnostics for board 50:
2025-04-24 10:47:31 [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 10:47:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:49:36 ago, cause: software
2025-04-24 10:47:31 [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 10:47:31 [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 10:47:31 [debug] Moves scheduled 8715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 81, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:31 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17383, writes 0 timeouts 0
2025-04-24 10:47:31 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37172
2025-04-24 10:47:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:31 [info] currentZPosition:0.0747
2025-04-24 10:47:32 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:32 [debug] Diagnostics for board 50:
2025-04-24 10:47:32 [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 10:47:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:37 ago, cause: software
2025-04-24 10:47:32 [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 10:47:32 [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 10:47:32 [debug] Moves scheduled 8719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:47:32 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16551, writes 0 timeouts 0
2025-04-24 10:47:32 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36403/37176
2025-04-24 10:47:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:32 [info] currentZPosition:0.0749
2025-04-24 10:47:34 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:34 [debug] Diagnostics for board 50:
2025-04-24 10:47:34 [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 10:47:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:38 ago, cause: software
2025-04-24 10:47:34 [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 10:47:34 [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 10:47:34 [debug] Moves scheduled 8723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4294967248 ticks, enabled, next step interrupt due in 4294775050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 10:47:34 [debug] Driver 0: pos -3452, 10060.2 steps/mm, standstill, SG min 0, mspos 168, reads 21508, writes 0 timeouts 0
2025-04-24 10:47:34 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36110/37175
2025-04-24 10:47:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:34 [info] currentZPosition:0.0745
2025-04-24 10:47:36 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:36 [debug] Diagnostics for board 50:
2025-04-24 10:47:36 [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 10:47:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:41 ago, cause: software
2025-04-24 10:47:36 [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 10:47:36 [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 10:47:36 [debug] Moves scheduled 8727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294569572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:36 [debug] Driver 0: pos -3443, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 31999, writes 0 timeouts 0
2025-04-24 10:47:36 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, 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 288, adv 36382/37175
2025-04-24 10:47:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:37 [info] currentZPosition:0.0753
2025-04-24 10:47:38 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:38 [debug] Diagnostics for board 50:
2025-04-24 10:47:38 [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 10:47:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:43 ago, cause: software
2025-04-24 10:47:38 [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 10:47:38 [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 10:47:38 [debug] Moves scheduled 8731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:38 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17462, writes 0 timeouts 0
2025-04-24 10:47:38 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 10:47:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:38 [info] currentZPosition:0.0744
2025-04-24 10:47:39 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:39 [debug] Diagnostics for board 50:
2025-04-24 10:47:39 [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 10:47:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:44 ago, cause: software
2025-04-24 10:47:39 [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 10:47:39 [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 10:47:39 [debug] Moves scheduled 8735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=18292
Sync err accum 81, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:39 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16475, writes 0 timeouts 0
2025-04-24 10:47:39 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36383/37174
2025-04-24 10:47:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:39 [info] currentZPosition:0.0748
2025-04-24 10:47:41 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:41 [debug] Diagnostics for board 50:
2025-04-24 10:47:41 [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 10:47:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:45 ago, cause: software
2025-04-24 10:47:41 [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 10:47:41 [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 10:47:41 [debug] Moves scheduled 8739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 78, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:41 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17227, writes 0 timeouts 0
2025-04-24 10:47:41 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37175
2025-04-24 10:47:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:41 [info] currentZPosition:0.0747
2025-04-24 10:47:42 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:42 [debug] Diagnostics for board 50:
2025-04-24 10:47:42 [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 10:47:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:47 ago, cause: software
2025-04-24 10:47:42 [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 10:47:42 [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 10:47:42 [debug] Moves scheduled 8743, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:42 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16712, writes 0 timeouts 0
2025-04-24 10:47:42 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36381/37174
2025-04-24 10:47:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:42 [info] currentZPosition:0.0743
2025-04-24 10:47:43 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:43 [debug] Diagnostics for board 50:
2025-04-24 10:47:43 [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 10:47:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:48 ago, cause: software
2025-04-24 10:47:43 [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 10:47:43 [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 10:47:43 [debug] Moves scheduled 8747, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=17857
Sync err accum 61, 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 4294936195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 10:47:43 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17203, writes 0 timeouts 0
2025-04-24 10:47:43 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37179
2025-04-24 10:47:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:43 [info] currentZPosition:0.0741
2025-04-24 10:47:45 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:45 [debug] Diagnostics for board 50:
2025-04-24 10:47:45 [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 10:47:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:49 ago, cause: software
2025-04-24 10:47:45 [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 10:47:45 [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 10:47:45 [debug] Moves scheduled 8751, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 72, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:45 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16398, writes 0 timeouts 0
2025-04-24 10:47:45 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37176
2025-04-24 10:47:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:45 [info] currentZPosition:0.0747
2025-04-24 10:47:46 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:46 [debug] Diagnostics for board 50:
2025-04-24 10:47:46 [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 10:47:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:51 ago, cause: software
2025-04-24 10:47:46 [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 10:47:46 [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 10:47:46 [debug] Moves scheduled 8755, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 88, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:47:46 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17307, writes 0 timeouts 0
2025-04-24 10:47:46 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37175
2025-04-24 10:47:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:46 [info] currentZPosition:0.0743
2025-04-24 10:47:47 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:47 [debug] Diagnostics for board 50:
2025-04-24 10:47:47 [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 10:47:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:52 ago, cause: software
2025-04-24 10:47:47 [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 10:47:47 [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 10:47:47 [debug] Moves scheduled 8759, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 100, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:47 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16290, writes 0 timeouts 0
2025-04-24 10:47:47 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37174
2025-04-24 10:47:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:47 [info] currentZPosition:0.0751
2025-04-24 10:47:49 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:49 [debug] Diagnostics for board 50:
2025-04-24 10:47:49 [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 10:47:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:54 ago, cause: software
2025-04-24 10:47:49 [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 10:47:49 [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 10:47:49 [debug] Moves scheduled 8763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5859, max=17045
Sync err accum 107, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:47:49 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17417, writes 0 timeouts 0
2025-04-24 10:47:49 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37168
2025-04-24 10:47:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:49 [info] currentZPosition:0.0744
2025-04-24 10:47:50 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:50 [debug] Diagnostics for board 50:
2025-04-24 10:47:50 [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 10:47:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:55 ago, cause: software
2025-04-24 10:47:50 [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 10:47:50 [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 10:47:50 [debug] Moves scheduled 8767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6355, max=17045
Sync err accum 116, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:47:50 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16463, writes 0 timeouts 0
2025-04-24 10:47:50 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37176
2025-04-24 10:47:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8750, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:50 [info] currentZPosition:0.0748
2025-04-24 10:47:51 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:51 [debug] Diagnostics for board 50:
2025-04-24 10:47:51 [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 10:47:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:56 ago, cause: software
2025-04-24 10:47:51 [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 10:47:51 [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 10:47:51 [debug] Moves scheduled 8771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 118, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:47:51 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17036, writes 0 timeouts 0
2025-04-24 10:47:51 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 10:47:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:52 [info] currentZPosition:0.0752
2025-04-24 10:47:53 [debug] Stopped at height 0.073 mm
2025-04-24 10:47:53 [debug] Diagnostics for board 50:
2025-04-24 10:47:53 [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 10:47:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:58 ago, cause: software
2025-04-24 10:47:53 [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 10:47:53 [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 10:47:53 [debug] Moves scheduled 8775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17857
Sync err accum 116, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:47:53 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17299, writes 0 timeouts 0
2025-04-24 10:47:53 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37173
2025-04-24 10:47:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:53 [info] currentZPosition:0.0731
2025-04-24 10:47:53 [debug] Stopped at height 0.073 mm
2025-04-24 10:47:54 [debug] Stopped at height 0.076 mm
2025-04-24 10:47:54 [debug] Diagnostics for board 50:
2025-04-24 10:47:54 [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 10:47:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:49:59 ago, cause: software
2025-04-24 10:47:54 [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 10:47:54 [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 10:47:54 [debug] Moves scheduled 8781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 114, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:47:54 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20300, writes 0 timeouts 0
2025-04-24 10:47:54 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36101/37175
2025-04-24 10:47:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:55 [info] currentZPosition:0.0755
2025-04-24 10:47:55 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:56 [debug] Stopped at height 0.075 mm
2025-04-24 10:47:56 [debug] Diagnostics for board 50:
2025-04-24 10:47:56 [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 10:47:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:01 ago, cause: software
2025-04-24 10:47:56 [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 10:47:56 [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 10:47:56 [debug] Moves scheduled 8787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6147, max=17045
Sync err accum 110, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:47:56 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20867, writes 0 timeouts 0
2025-04-24 10:47:56 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37177
2025-04-24 10:47:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:56 [info] currentZPosition:0.0747
2025-04-24 10:47:58 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:58 [debug] Diagnostics for board 50:
2025-04-24 10:47:58 [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 10:47:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:02 ago, cause: software
2025-04-24 10:47:58 [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 10:47:58 [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 10:47:58 [debug] Moves scheduled 8791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=18292
Sync err accum 100, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:47:58 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17271, writes 0 timeouts 0
2025-04-24 10:47:58 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37178
2025-04-24 10:47:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:58 [info] currentZPosition:0.0744
2025-04-24 10:47:59 [debug] Stopped at height 0.074 mm
2025-04-24 10:47:59 [debug] Diagnostics for board 50:
2025-04-24 10:47:59 [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 10:47:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:04 ago, cause: software
2025-04-24 10:47:59 [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 10:47:59 [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 10:47:59 [debug] Moves scheduled 8795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:47:59 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16735, writes 0 timeouts 0
2025-04-24 10:47:59 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36383/37177
2025-04-24 10:47:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:47:59 [info] currentZPosition:0.0740
2025-04-24 10:48:00 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:00 [debug] Diagnostics for board 50:
2025-04-24 10:48:00 [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 10:48:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:05 ago, cause: software
2025-04-24 10:48:00 [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 10:48:00 [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 10:48:00 [debug] Moves scheduled 8799, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 81, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:00 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16546, writes 0 timeouts 0
2025-04-24 10:48:00 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37175
2025-04-24 10:48:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:00 [info] currentZPosition:0.0760
2025-04-24 10:48:01 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:02 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:02 [debug] Diagnostics for board 50:
2025-04-24 10:48:02 [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 10:48:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:07 ago, cause: software
2025-04-24 10:48:02 [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 10:48:02 [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 10:48:02 [debug] Moves scheduled 8805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:48:02 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20861, writes 0 timeouts 0
2025-04-24 10:48:02 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36406/37177
2025-04-24 10:48:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:02 [info] currentZPosition:0.0749
2025-04-24 10:48:03 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:03 [debug] Diagnostics for board 50:
2025-04-24 10:48:03 [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 10:48:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:08 ago, cause: software
2025-04-24 10:48:03 [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 10:48:03 [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 10:48:03 [debug] Moves scheduled 8809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:03 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17157, writes 0 timeouts 0
2025-04-24 10:48:03 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36105/37175
2025-04-24 10:48:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:03 [info] currentZPosition:0.0749
2025-04-24 10:48:05 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:05 [debug] Diagnostics for board 50:
2025-04-24 10:48:05 [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 10:48:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:09 ago, cause: software
2025-04-24 10:48:05 [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 10:48:05 [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 10:48:05 [debug] Moves scheduled 8813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6250, max=18292
Sync err accum 82, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:05 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16324, writes 0 timeouts 0
2025-04-24 10:48:05 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36397/37173
2025-04-24 10:48:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8710, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:05 [info] currentZPosition:0.0759
2025-04-24 10:48:06 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:06 [debug] Diagnostics for board 50:
2025-04-24 10:48:06 [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 10:48:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:11 ago, cause: software
2025-04-24 10:48:06 [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 10:48:06 [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 10:48:06 [debug] Moves scheduled 8817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:48:06 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17519, writes 0 timeouts 0
2025-04-24 10:48:06 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37174
2025-04-24 10:48:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:06 [info] currentZPosition:0.0748
2025-04-24 10:48:07 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:07 [debug] Diagnostics for board 50:
2025-04-24 10:48:07 [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 10:48:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:12 ago, cause: software
2025-04-24 10:48:07 [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 10:48:07 [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 10:48:07 [debug] Moves scheduled 8821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17857
Sync err accum 99, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:48:07 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16781, writes 0 timeouts 0
2025-04-24 10:48:07 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36394/37175
2025-04-24 10:48:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:07 [info] currentZPosition:0.0743
2025-04-24 10:48:09 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:09 [debug] Diagnostics for board 50:
2025-04-24 10:48:09 [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 10:48:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:13 ago, cause: software
2025-04-24 10:48:09 [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 10:48:09 [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 10:48:09 [debug] Moves scheduled 8825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:09 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17119, writes 0 timeouts 0
2025-04-24 10:48:09 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37176
2025-04-24 10:48:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:09 [info] currentZPosition:0.0745
2025-04-24 10:48:10 [debug] Stopped at height 0.073 mm
2025-04-24 10:48:10 [debug] Diagnostics for board 50:
2025-04-24 10:48:10 [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 10:48:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:15 ago, cause: software
2025-04-24 10:48:10 [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 10:48:10 [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 10:48:10 [debug] Moves scheduled 8829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:10 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17198, writes 0 timeouts 0
2025-04-24 10:48:10 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36402/37174
2025-04-24 10:48:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:10 [info] currentZPosition:0.0727
2025-04-24 10:48:10 [debug] Stopped at height 0.072 mm
2025-04-24 10:48:12 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:12 [debug] Diagnostics for board 50:
2025-04-24 10:48:12 [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 10:48:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:16 ago, cause: software
2025-04-24 10:48:12 [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 10:48:12 [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 10:48:12 [debug] Moves scheduled 8835, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 112, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:12 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20438, writes 0 timeouts 0
2025-04-24 10:48:12 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 10:48:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:12 [info] currentZPosition:0.0748
2025-04-24 10:48:12 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:13 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:13 [debug] Diagnostics for board 50:
2025-04-24 10:48:13 [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 10:48:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:18 ago, cause: software
2025-04-24 10:48:13 [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 10:48:13 [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 10:48:13 [debug] Moves scheduled 8841, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 109, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:48:13 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20739, writes 0 timeouts 0
2025-04-24 10:48:13 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36284/37177
2025-04-24 10:48:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:13 [info] currentZPosition:0.0740
2025-04-24 10:48:15 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:15 [debug] Diagnostics for board 50:
2025-04-24 10:48:15 [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 10:48:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:19 ago, cause: software
2025-04-24 10:48:15 [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 10:48:15 [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 10:48:15 [debug] Moves scheduled 8845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 102, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:15 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16684, writes 0 timeouts 0
2025-04-24 10:48:15 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 10:48:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:15 [info] currentZPosition:0.0755
2025-04-24 10:48:15 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:16 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:16 [debug] Diagnostics for board 50:
2025-04-24 10:48:16 [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 10:48:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:21 ago, cause: software
2025-04-24 10:48:16 [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 10:48:16 [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 10:48:16 [debug] Moves scheduled 8851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 89, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:16 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20587, writes 0 timeouts 0
2025-04-24 10:48:16 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36164/37178
2025-04-24 10:48:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:16 [info] currentZPosition:0.0750
2025-04-24 10:48:18 [debug] Stopped at height 0.073 mm
2025-04-24 10:48:18 [debug] Diagnostics for board 50:
2025-04-24 10:48:18 [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 10:48:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:23 ago, cause: software
2025-04-24 10:48:18 [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 10:48:18 [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 10:48:18 [debug] Moves scheduled 8855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 77, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:18 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17756, writes 0 timeouts 0
2025-04-24 10:48:18 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37177
2025-04-24 10:48:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:18 [info] currentZPosition:0.0732
2025-04-24 10:48:18 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:19 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:19 [debug] Diagnostics for board 50:
2025-04-24 10:48:19 [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 10:48:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:24 ago, cause: software
2025-04-24 10:48:19 [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 10:48:19 [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 10:48:19 [debug] Moves scheduled 8861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:19 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 19566, writes 0 timeouts 0
2025-04-24 10:48:19 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36163/37178
2025-04-24 10:48:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:19 [info] currentZPosition:0.0759
2025-04-24 10:48:21 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:21 [debug] Diagnostics for board 50:
2025-04-24 10:48:21 [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 10:48:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:25 ago, cause: software
2025-04-24 10:48:21 [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 10:48:21 [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 10:48:21 [debug] Moves scheduled 8865, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:21 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17639, writes 0 timeouts 0
2025-04-24 10:48:21 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37178
2025-04-24 10:48:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:21 [info] currentZPosition:0.0745
2025-04-24 10:48:21 [debug] Stopped at height 0.073 mm
2025-04-24 10:48:22 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:22 [debug] Diagnostics for board 50:
2025-04-24 10:48:22 [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 10:48:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:27 ago, cause: software
2025-04-24 10:48:22 [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 10:48:22 [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 10:48:22 [debug] Moves scheduled 8871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 84, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:48:22 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20769, writes 0 timeouts 0
2025-04-24 10:48:22 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36156/37176
2025-04-24 10:48:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:22 [info] currentZPosition:0.0741
2025-04-24 10:48:24 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:24 [debug] Diagnostics for board 50:
2025-04-24 10:48:24 [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 10:48:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:28 ago, cause: software
2025-04-24 10:48:24 [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 10:48:24 [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 10:48:24 [debug] Moves scheduled 8875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=74, frequency (Hz): min=6250, max=18292
Sync err accum 98, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:24 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16616, writes 0 timeouts 0
2025-04-24 10:48:24 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37176
2025-04-24 10:48:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:24 [info] currentZPosition:0.0759
2025-04-24 10:48:24 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:25 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:25 [debug] Diagnostics for board 50:
2025-04-24 10:48:25 [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 10:48:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:30 ago, cause: software
2025-04-24 10:48:25 [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 10:48:25 [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 10:48:25 [debug] Moves scheduled 8881, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 108, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:25 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20877, writes 0 timeouts 0
2025-04-24 10:48:25 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37176
2025-04-24 10:48:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:25 [info] currentZPosition:0.0746
2025-04-24 10:48:27 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:27 [debug] Diagnostics for board 50:
2025-04-24 10:48:27 [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 10:48:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:31 ago, cause: software
2025-04-24 10:48:27 [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 10:48:27 [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 10:48:27 [debug] Moves scheduled 8885, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 113, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:27 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16733, writes 0 timeouts 0
2025-04-24 10:48:27 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36093/37175
2025-04-24 10:48:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:27 [info] currentZPosition:0.0760
2025-04-24 10:48:27 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:28 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:28 [debug] Diagnostics for board 50:
2025-04-24 10:48:28 [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 10:48:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:33 ago, cause: software
2025-04-24 10:48:28 [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 10:48:28 [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 10:48:28 [debug] Moves scheduled 8891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 117, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:28 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20472, writes 0 timeouts 0
2025-04-24 10:48:28 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36165/37176
2025-04-24 10:48:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:28 [info] currentZPosition:0.0760
2025-04-24 10:48:29 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:30 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:30 [debug] Diagnostics for board 50:
2025-04-24 10:48:30 [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 10:48:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:35 ago, cause: software
2025-04-24 10:48:30 [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 10:48:30 [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 10:48:30 [debug] Moves scheduled 8897, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6818, max=17045
Sync err accum 117, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:30 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 21804, writes 0 timeouts 0
2025-04-24 10:48:30 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37177
2025-04-24 10:48:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:30 [info] currentZPosition:0.0736
2025-04-24 10:48:30 [debug] Stopped at height 0.073 mm
2025-04-24 10:48:32 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:32 [debug] Diagnostics for board 50:
2025-04-24 10:48:32 [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 10:48:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:36 ago, cause: software
2025-04-24 10:48:32 [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 10:48:32 [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 10:48:32 [debug] Moves scheduled 8903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6410, max=18292
Sync err accum 113, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294935815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:48:32 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20009, writes 0 timeouts 0
2025-04-24 10:48:32 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36156/37177
2025-04-24 10:48:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:32 [info] currentZPosition:0.0754
2025-04-24 10:48:32 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:33 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:33 [debug] Diagnostics for board 50:
2025-04-24 10:48:33 [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 10:48:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:38 ago, cause: software
2025-04-24 10:48:33 [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 10:48:33 [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 10:48:33 [debug] Moves scheduled 8909, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=18292
Sync err accum 103, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:48:33 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20710, writes 0 timeouts 0
2025-04-24 10:48:33 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 10:48:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:33 [info] currentZPosition:0.0766
2025-04-24 10:48:34 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:35 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:35 [debug] Diagnostics for board 50:
2025-04-24 10:48:35 [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 10:48:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:40 ago, cause: software
2025-04-24 10:48:35 [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 10:48:35 [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 10:48:35 [debug] Moves scheduled 8915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 90, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:35 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20985, writes 0 timeouts 0
2025-04-24 10:48:35 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36149/37178
2025-04-24 10:48:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:35 [info] currentZPosition:0.0748
2025-04-24 10:48:35 [debug] Stopped at height 0.073 mm
2025-04-24 10:48:37 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:37 [debug] Diagnostics for board 50:
2025-04-24 10:48:37 [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 10:48:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:41 ago, cause: software
2025-04-24 10:48:37 [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 10:48:37 [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 10:48:37 [debug] Moves scheduled 8921, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter -2/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:37 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20626, writes 0 timeouts 0
2025-04-24 10:48:37 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 283, adv 36113/37177
2025-04-24 10:48:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:37 [info] currentZPosition:0.0769
2025-04-24 10:48:37 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:38 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:38 [debug] Diagnostics for board 50:
2025-04-24 10:48:38 [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 10:48:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:43 ago, cause: software
2025-04-24 10:48:38 [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 10:48:38 [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 10:48:38 [debug] Moves scheduled 8927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294931965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:48:38 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20782, writes 0 timeouts 0
2025-04-24 10:48:38 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37178
2025-04-24 10:48:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:38 [info] currentZPosition:0.0763
2025-04-24 10:48:40 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:40 [debug] Diagnostics for board 50:
2025-04-24 10:48:40 [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 10:48:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:45 ago, cause: software
2025-04-24 10:48:40 [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 10:48:40 [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 10:48:40 [debug] Moves scheduled 8931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 71, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:48:40 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17627, writes 0 timeouts 0
2025-04-24 10:48:40 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37177
2025-04-24 10:48:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:40 [info] currentZPosition:0.0749
2025-04-24 10:48:40 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:41 [debug] Stopped at height 0.078 mm
2025-04-24 10:48:41 [debug] Diagnostics for board 50:
2025-04-24 10:48:41 [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 10:48:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:46 ago, cause: software
2025-04-24 10:48:41 [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 10:48:41 [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 10:48:41 [debug] Moves scheduled 8937, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:41 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 19763, writes 0 timeouts 0
2025-04-24 10:48:41 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36156/37174
2025-04-24 10:48:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:41 [info] currentZPosition:0.0775
2025-04-24 10:48:42 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:43 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:43 [debug] Diagnostics for board 50:
2025-04-24 10:48:43 [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 10:48:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:48 ago, cause: software
2025-04-24 10:48:43 [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 10:48:43 [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 10:48:43 [debug] Moves scheduled 8943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 97, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:43 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 21426, writes 0 timeouts 0
2025-04-24 10:48:43 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37173
2025-04-24 10:48:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:43 [info] currentZPosition:0.0767
2025-04-24 10:48:44 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:44 [debug] Diagnostics for board 50:
2025-04-24 10:48:44 [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 10:48:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:49 ago, cause: software
2025-04-24 10:48:44 [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 10:48:44 [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 10:48:44 [debug] Moves scheduled 8947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:44 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17922, writes 0 timeouts 0
2025-04-24 10:48:44 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36166/37172
2025-04-24 10:48:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:45 [info] currentZPosition:0.0763
2025-04-24 10:48:46 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:46 [debug] Diagnostics for board 50:
2025-04-24 10:48:46 [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 10:48:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:51 ago, cause: software
2025-04-24 10:48:46 [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 10:48:46 [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 10:48:46 [debug] Moves scheduled 8951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=7009, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:46 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17257, writes 0 timeouts 0
2025-04-24 10:48:46 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 10:48:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:46 [info] currentZPosition:0.0761
2025-04-24 10:48:47 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:47 [debug] Diagnostics for board 50:
2025-04-24 10:48:47 [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 10:48:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:52 ago, cause: software
2025-04-24 10:48:47 [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 10:48:47 [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 10:48:47 [debug] Moves scheduled 8955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 106, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:47 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16473, writes 0 timeouts 0
2025-04-24 10:48:47 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37175
2025-04-24 10:48:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:47 [info] currentZPosition:0.0765
2025-04-24 10:48:49 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:49 [debug] Diagnostics for board 50:
2025-04-24 10:48:49 [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 10:48:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:53 ago, cause: software
2025-04-24 10:48:49 [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 10:48:49 [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 10:48:49 [debug] Moves scheduled 8959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17045
Sync err accum 105, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4294967248 ticks, enabled, next step interrupt due in 4294932187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32
2025-04-24 10:48:49 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17144, writes 0 timeouts 0
2025-04-24 10:48:49 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37172
2025-04-24 10:48:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:49 [info] currentZPosition:0.0766
2025-04-24 10:48:50 [debug] Stopped at height 0.078 mm
2025-04-24 10:48:50 [debug] Diagnostics for board 50:
2025-04-24 10:48:50 [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 10:48:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:50:55 ago, cause: software
2025-04-24 10:48:50 [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 10:48:50 [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 10:48:50 [debug] Moves scheduled 8963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6637, max=17045
Sync err accum 103, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294928614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:48:50 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16335, writes 0 timeouts 0
2025-04-24 10:48:50 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37176
2025-04-24 10:48:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8710, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:50 [info] currentZPosition:0.0777
2025-04-24 10:48:51 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:51 [debug] Diagnostics for board 50:
2025-04-24 10:48:51 [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 10:48:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:56 ago, cause: software
2025-04-24 10:48:51 [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 10:48:51 [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 10:48:51 [debug] Moves scheduled 8967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 97, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294935495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 10:48:51 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17978, writes 0 timeouts 0
2025-04-24 10:48:51 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37176
2025-04-24 10:48:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:51 [info] currentZPosition:0.0751
2025-04-24 10:48:52 [debug] Stopped at height 0.074 mm
2025-04-24 10:48:53 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:53 [debug] Diagnostics for board 50:
2025-04-24 10:48:53 [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 10:48:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:58 ago, cause: software
2025-04-24 10:48:53 [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 10:48:53 [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 10:48:53 [debug] Moves scheduled 8973, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 90, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:53 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20229, writes 0 timeouts 0
2025-04-24 10:48:53 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36164/37177
2025-04-24 10:48:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:53 [info] currentZPosition:0.0765
2025-04-24 10:48:53 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:55 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:55 [debug] Diagnostics for board 50:
2025-04-24 10:48:55 [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 10:48:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:50:59 ago, cause: software
2025-04-24 10:48:55 [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 10:48:55 [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 10:48:55 [debug] Moves scheduled 8979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:55 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20852, writes 0 timeouts 0
2025-04-24 10:48:55 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37178
2025-04-24 10:48:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:55 [info] currentZPosition:0.0773
2025-04-24 10:48:55 [debug] Stopped at height 0.075 mm
2025-04-24 10:48:56 [debug] Stopped at height 0.076 mm
2025-04-24 10:48:56 [debug] Diagnostics for board 50:
2025-04-24 10:48:56 [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 10:48:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:01 ago, cause: software
2025-04-24 10:48:56 [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 10:48:56 [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 10:48:56 [debug] Moves scheduled 8985, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:48:56 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20823, writes 0 timeouts 0
2025-04-24 10:48:56 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36167/37177
2025-04-24 10:48:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:56 [info] currentZPosition:0.0761
2025-04-24 10:48:58 [debug] Stopped at height 0.078 mm
2025-04-24 10:48:58 [debug] Diagnostics for board 50:
2025-04-24 10:48:58 [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 10:48:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:02 ago, cause: software
2025-04-24 10:48:58 [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 10:48:58 [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 10:48:58 [debug] Moves scheduled 8989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=17045
Sync err accum 66, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:48:58 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16677, writes 0 timeouts 0
2025-04-24 10:48:58 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37173
2025-04-24 10:48:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:58 [info] currentZPosition:0.0777
2025-04-24 10:48:58 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:59 [debug] Stopped at height 0.077 mm
2025-04-24 10:48:59 [debug] Diagnostics for board 50:
2025-04-24 10:48:59 [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 10:48:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:04 ago, cause: software
2025-04-24 10:48:59 [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 10:48:59 [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 10:48:59 [debug] Moves scheduled 8995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6578, max=17045
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 4294929281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:48:59 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20589, writes 0 timeouts 0
2025-04-24 10:48:59 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36160/37173
2025-04-24 10:48:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:48:59 [info] currentZPosition:0.0774
2025-04-24 10:49:01 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:01 [debug] Diagnostics for board 50:
2025-04-24 10:49:01 [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 10:49:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:05 ago, cause: software
2025-04-24 10:49:01 [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 10:49:01 [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 10:49:01 [debug] Moves scheduled 8999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 94, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:01 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17192, writes 0 timeouts 0
2025-04-24 10:49:01 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36101/37174
2025-04-24 10:49:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:01 [info] currentZPosition:0.0774
2025-04-24 10:49:02 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:02 [debug] Diagnostics for board 50:
2025-04-24 10:49:02 [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 10:49:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:07 ago, cause: software
2025-04-24 10:49:02 [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 10:49:02 [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 10:49:02 [debug] Moves scheduled 9003, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 103, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:02 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16727, writes 0 timeouts 0
2025-04-24 10:49:02 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36164/37176
2025-04-24 10:49:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:02 [info] currentZPosition:0.0768
2025-04-24 10:49:03 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:03 [debug] Diagnostics for board 50:
2025-04-24 10:49:03 [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 10:49:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:08 ago, cause: software
2025-04-24 10:49:03 [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 10:49:03 [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 10:49:03 [debug] Moves scheduled 9007, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 109, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:03 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17227, writes 0 timeouts 0
2025-04-24 10:49:03 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37175
2025-04-24 10:49:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:03 [info] currentZPosition:0.0766
2025-04-24 10:49:05 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:05 [debug] Diagnostics for board 50:
2025-04-24 10:49:05 [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 10:49:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:09 ago, cause: software
2025-04-24 10:49:05 [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 10:49:05 [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 10:49:05 [debug] Moves scheduled 9011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6578, max=17045
Sync err accum 111, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:05 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16297, writes 0 timeouts 0
2025-04-24 10:49:05 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37176
2025-04-24 10:49:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:05 [info] currentZPosition:0.0777
2025-04-24 10:49:06 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:06 [debug] Diagnostics for board 50:
2025-04-24 10:49:06 [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 10:49:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:11 ago, cause: software
2025-04-24 10:49:06 [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 10:49:06 [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 10:49:06 [debug] Moves scheduled 9015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6410, max=17045
Sync err accum 112, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:06 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17026, writes 0 timeouts 0
2025-04-24 10:49:06 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37170
2025-04-24 10:49:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:06 [info] currentZPosition:0.0780
2025-04-24 10:49:07 [debug] Stopped at height 0.076 mm
2025-04-24 10:49:07 [debug] Diagnostics for board 50:
2025-04-24 10:49:07 [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 10:49:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:12 ago, cause: software
2025-04-24 10:49:07 [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 10:49:07 [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 10:49:07 [debug] Moves scheduled 9019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6410, max=18292
Sync err accum 112, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:49:07 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17285, writes 0 timeouts 0
2025-04-24 10:49:07 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37177
2025-04-24 10:49:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:07 [info] currentZPosition:0.0757
2025-04-24 10:49:08 [debug] Stopped at height 0.075 mm
2025-04-24 10:49:09 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:09 [debug] Diagnostics for board 50:
2025-04-24 10:49:09 [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 10:49:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:14 ago, cause: software
2025-04-24 10:49:09 [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 10:49:09 [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 10:49:09 [debug] Moves scheduled 9025, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=6250, max=17045
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 4294934017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:09 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20706, writes 0 timeouts 0
2025-04-24 10:49:09 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36088/37174
2025-04-24 10:49:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:09 [info] currentZPosition:0.0771
2025-04-24 10:49:09 [debug] Stopped at height 0.076 mm
2025-04-24 10:49:11 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:11 [debug] Diagnostics for board 50:
2025-04-24 10:49:11 [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 10:49:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:15 ago, cause: software
2025-04-24 10:49:11 [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 10:49:11 [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 10:49:11 [debug] Moves scheduled 9031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 100, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:49:11 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20369, writes 0 timeouts 0
2025-04-24 10:49:11 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36285/37177
2025-04-24 10:49:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:11 [info] currentZPosition:0.0774
2025-04-24 10:49:11 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:12 [debug] Stopped at height 0.076 mm
2025-04-24 10:49:12 [debug] Diagnostics for board 50:
2025-04-24 10:49:12 [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 10:49:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:17 ago, cause: software
2025-04-24 10:49:12 [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 10:49:12 [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 10:49:12 [debug] Moves scheduled 9037, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=97, frequency (Hz): min=7075, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:12 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 21429, writes 0 timeouts 0
2025-04-24 10:49:12 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37176
2025-04-24 10:49:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:12 [info] currentZPosition:0.0763
2025-04-24 10:49:14 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:14 [debug] Diagnostics for board 50:
2025-04-24 10:49:14 [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 10:49:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:18 ago, cause: software
2025-04-24 10:49:14 [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 10:49:14 [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 10:49:14 [debug] Moves scheduled 9041, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:14 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16322, writes 0 timeouts 0
2025-04-24 10:49:14 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36404/37178
2025-04-24 10:49:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:14 [info] currentZPosition:0.0774
2025-04-24 10:49:15 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:15 [debug] Diagnostics for board 50:
2025-04-24 10:49:15 [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 10:49:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:20 ago, cause: software
2025-04-24 10:49:15 [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 10:49:15 [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 10:49:15 [debug] Moves scheduled 9045, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:49:15 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17026, writes 0 timeouts 0
2025-04-24 10:49:15 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37176
2025-04-24 10:49:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:15 [info] currentZPosition:0.0777
2025-04-24 10:49:16 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:16 [debug] Diagnostics for board 50:
2025-04-24 10:49:16 [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 10:49:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:21 ago, cause: software
2025-04-24 10:49:16 [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 10:49:16 [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 10:49:16 [debug] Moves scheduled 9049, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
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 4294933851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:16 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16645, writes 0 timeouts 0
2025-04-24 10:49:16 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37175
2025-04-24 10:49:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:16 [info] currentZPosition:0.0776
2025-04-24 10:49:18 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:18 [debug] Diagnostics for board 50:
2025-04-24 10:49:18 [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 10:49:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:23 ago, cause: software
2025-04-24 10:49:18 [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 10:49:18 [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 10:49:18 [debug] Moves scheduled 9053, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=18292
Sync err accum 76, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:18 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17002, writes 0 timeouts 0
2025-04-24 10:49:18 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37172
2025-04-24 10:49:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:18 [info] currentZPosition:0.0783
2025-04-24 10:49:19 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:19 [debug] Diagnostics for board 50:
2025-04-24 10:49:19 [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 10:49:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:24 ago, cause: software
2025-04-24 10:49:19 [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 10:49:19 [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 10:49:19 [debug] Moves scheduled 9057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 82, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:19 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16662, writes 0 timeouts 0
2025-04-24 10:49:19 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37173
2025-04-24 10:49:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:19 [info] currentZPosition:0.0781
2025-04-24 10:49:20 [debug] Stopped at height 0.076 mm
2025-04-24 10:49:20 [debug] Diagnostics for board 50:
2025-04-24 10:49:20 [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 10:49:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:25 ago, cause: software
2025-04-24 10:49:20 [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 10:49:20 [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 10:49:20 [debug] Moves scheduled 9061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5639, max=17045
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:20 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17696, writes 0 timeouts 0
2025-04-24 10:49:20 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37175
2025-04-24 10:49:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:21 [info] currentZPosition:0.0764
2025-04-24 10:49:21 [debug] Stopped at height 0.076 mm
2025-04-24 10:49:22 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:22 [debug] Diagnostics for board 50:
2025-04-24 10:49:22 [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 10:49:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:27 ago, cause: software
2025-04-24 10:49:22 [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 10:49:22 [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 10:49:22 [debug] Moves scheduled 9067, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:22 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20353, writes 0 timeouts 0
2025-04-24 10:49:22 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36401/37174
2025-04-24 10:49:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:22 [info] currentZPosition:0.0771
2025-04-24 10:49:23 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:23 [debug] Diagnostics for board 50:
2025-04-24 10:49:23 [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 10:49:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:28 ago, cause: software
2025-04-24 10:49:23 [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 10:49:23 [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 10:49:23 [debug] Moves scheduled 9071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 83, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:23 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17035, writes 0 timeouts 0
2025-04-24 10:49:23 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37176
2025-04-24 10:49:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:24 [info] currentZPosition:0.0775
2025-04-24 10:49:25 [debug] Stopped at height 0.076 mm
2025-04-24 10:49:25 [debug] Diagnostics for board 50:
2025-04-24 10:49:25 [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 10:49:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:30 ago, cause: software
2025-04-24 10:49:25 [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 10:49:25 [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 10:49:25 [debug] Moves scheduled 9075, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=7009, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:25 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17191, writes 0 timeouts 0
2025-04-24 10:49:25 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37179
2025-04-24 10:49:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:25 [info] currentZPosition:0.0759
2025-04-24 10:49:25 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:26 [debug] Stopped at height 0.079 mm
2025-04-24 10:49:26 [debug] Diagnostics for board 50:
2025-04-24 10:49:26 [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 10:49:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:31 ago, cause: software
2025-04-24 10:49:26 [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 10:49:26 [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 10:49:26 [debug] Moves scheduled 9081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 70, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:49:26 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20176, writes 0 timeouts 0
2025-04-24 10:49:26 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36111/37176
2025-04-24 10:49:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:27 [info] currentZPosition:0.0785
2025-04-24 10:49:28 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:28 [debug] Diagnostics for board 50:
2025-04-24 10:49:28 [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 10:49:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:33 ago, cause: software
2025-04-24 10:49:28 [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 10:49:28 [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 10:49:28 [debug] Moves scheduled 9085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 64, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:28 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16932, writes 0 timeouts 0
2025-04-24 10:49:28 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37177
2025-04-24 10:49:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:28 [info] currentZPosition:0.0775
2025-04-24 10:49:29 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:29 [debug] Diagnostics for board 50:
2025-04-24 10:49:29 [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 10:49:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:34 ago, cause: software
2025-04-24 10:49:29 [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 10:49:29 [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 10:49:29 [debug] Moves scheduled 9089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:29 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17278, writes 0 timeouts 0
2025-04-24 10:49:29 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37176
2025-04-24 10:49:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:29 [info] currentZPosition:0.0772
2025-04-24 10:49:31 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:31 [debug] Diagnostics for board 50:
2025-04-24 10:49:31 [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 10:49:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:35 ago, cause: software
2025-04-24 10:49:31 [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 10:49:31 [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 10:49:31 [debug] Moves scheduled 9093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936094 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:31 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16269, writes 0 timeouts 0
2025-04-24 10:49:31 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36381/37174
2025-04-24 10:49:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:31 [info] currentZPosition:0.0782
2025-04-24 10:49:32 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:32 [debug] Diagnostics for board 50:
2025-04-24 10:49:32 [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 10:49:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:37 ago, cause: software
2025-04-24 10:49:32 [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 10:49:32 [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 10:49:32 [debug] Moves scheduled 9097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 63, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:32 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17602, writes 0 timeouts 0
2025-04-24 10:49:32 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36108/37177
2025-04-24 10:49:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:32 [info] currentZPosition:0.0767
2025-04-24 10:49:32 [debug] Stopped at height 0.076 mm
2025-04-24 10:49:34 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:34 [debug] Diagnostics for board 50:
2025-04-24 10:49:34 [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 10:49:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:38 ago, cause: software
2025-04-24 10:49:34 [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 10:49:34 [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 10:49:34 [debug] Moves scheduled 9103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 76, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:34 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20701, writes 0 timeouts 0
2025-04-24 10:49:34 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36399/37175
2025-04-24 10:49:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:34 [info] currentZPosition:0.0766
2025-04-24 10:49:35 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:35 [debug] Diagnostics for board 50:
2025-04-24 10:49:35 [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 10:49:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:40 ago, cause: software
2025-04-24 10:49:35 [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 10:49:35 [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 10:49:35 [debug] Moves scheduled 9107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
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 4294934626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:35 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16878, writes 0 timeouts 0
2025-04-24 10:49:35 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36088/37170
2025-04-24 10:49:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:35 [info] currentZPosition:0.0776
2025-04-24 10:49:36 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:36 [debug] Diagnostics for board 50:
2025-04-24 10:49:36 [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 10:49:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:41 ago, cause: software
2025-04-24 10:49:36 [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 10:49:36 [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 10:49:36 [debug] Moves scheduled 9111, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:36 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16487, writes 0 timeouts 0
2025-04-24 10:49:36 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36378/37175
2025-04-24 10:49:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:36 [info] currentZPosition:0.0779
2025-04-24 10:49:38 [debug] Stopped at height 0.079 mm
2025-04-24 10:49:38 [debug] Diagnostics for board 50:
2025-04-24 10:49:38 [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 10:49:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:42 ago, cause: software
2025-04-24 10:49:38 [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 10:49:38 [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 10:49:38 [debug] Moves scheduled 9115, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:38 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16853, writes 0 timeouts 0
2025-04-24 10:49:38 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36110/37175
2025-04-24 10:49:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:38 [info] currentZPosition:0.0789
2025-04-24 10:49:39 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:39 [debug] Diagnostics for board 50:
2025-04-24 10:49:39 [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 10:49:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:44 ago, cause: software
2025-04-24 10:49:39 [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 10:49:39 [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 10:49:39 [debug] Moves scheduled 9119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 97, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:39 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16853, writes 0 timeouts 0
2025-04-24 10:49:39 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37174
2025-04-24 10:49:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:39 [info] currentZPosition:0.0781
2025-04-24 10:49:40 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:40 [debug] Diagnostics for board 50:
2025-04-24 10:49:40 [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 10:49:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:45 ago, cause: software
2025-04-24 10:49:40 [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 10:49:40 [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 10:49:40 [debug] Moves scheduled 9123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:40 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17242, writes 0 timeouts 0
2025-04-24 10:49:40 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37175
2025-04-24 10:49:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:40 [info] currentZPosition:0.0779
2025-04-24 10:49:42 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:42 [debug] Diagnostics for board 50:
2025-04-24 10:49:42 [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 10:49:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:46 ago, cause: software
2025-04-24 10:49:42 [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 10:49:42 [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 10:49:42 [debug] Moves scheduled 9127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 95, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:42 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16670, writes 0 timeouts 0
2025-04-24 10:49:42 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36398/37177
2025-04-24 10:49:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:42 [info] currentZPosition:0.0780
2025-04-24 10:49:43 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:43 [debug] Diagnostics for board 50:
2025-04-24 10:49:43 [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 10:49:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:48 ago, cause: software
2025-04-24 10:49:43 [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 10:49:43 [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 10:49:43 [debug] Moves scheduled 9131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6048, max=17857
Sync err accum 89, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:43 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17304, writes 0 timeouts 0
2025-04-24 10:49:43 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37177
2025-04-24 10:49:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:43 [info] currentZPosition:0.0776
2025-04-24 10:49:44 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:44 [debug] Diagnostics for board 50:
2025-04-24 10:49:44 [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 10:49:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:49 ago, cause: software
2025-04-24 10:49:44 [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 10:49:44 [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 10:49:44 [debug] Moves scheduled 9135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:44 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16503, writes 0 timeouts 0
2025-04-24 10:49:44 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37175
2025-04-24 10:49:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:44 [info] currentZPosition:0.0780
2025-04-24 10:49:46 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:46 [debug] Diagnostics for board 50:
2025-04-24 10:49:46 [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 10:49:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:51 ago, cause: software
2025-04-24 10:49:46 [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 10:49:46 [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 10:49:46 [debug] Moves scheduled 9139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:46 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17501, writes 0 timeouts 0
2025-04-24 10:49:46 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36099/37178
2025-04-24 10:49:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:46 [info] currentZPosition:0.0769
2025-04-24 10:49:47 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:47 [debug] Diagnostics for board 50:
2025-04-24 10:49:47 [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 10:49:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:52 ago, cause: software
2025-04-24 10:49:47 [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 10:49:47 [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 10:49:47 [debug] Moves scheduled 9143, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 62, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:47 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16485, writes 0 timeouts 0
2025-04-24 10:49:47 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37173
2025-04-24 10:49:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:47 [info] currentZPosition:0.0773
2025-04-24 10:49:48 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:48 [debug] Diagnostics for board 50:
2025-04-24 10:49:48 [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 10:49:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:53 ago, cause: software
2025-04-24 10:49:48 [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 10:49:48 [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 10:49:48 [debug] Moves scheduled 9147, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6637, max=17045
Sync err accum 70, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:48 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17015, writes 0 timeouts 0
2025-04-24 10:49:48 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36106/37175
2025-04-24 10:49:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:49 [info] currentZPosition:0.0779
2025-04-24 10:49:50 [debug] Stopped at height 0.079 mm
2025-04-24 10:49:50 [debug] Diagnostics for board 50:
2025-04-24 10:49:50 [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 10:49:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:55 ago, cause: software
2025-04-24 10:49:50 [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 10:49:50 [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 10:49:50 [debug] Moves scheduled 9151, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=18292
Sync err accum 84, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:50 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16464, writes 0 timeouts 0
2025-04-24 10:49:50 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36381/37174
2025-04-24 10:49:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:50 [info] currentZPosition:0.0785
2025-04-24 10:49:51 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:51 [debug] Diagnostics for board 50:
2025-04-24 10:49:51 [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 10:49:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:56 ago, cause: software
2025-04-24 10:49:51 [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 10:49:51 [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 10:49:51 [debug] Moves scheduled 9155, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6355, max=17857
Sync err accum 94, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:49:51 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17650, writes 0 timeouts 0
2025-04-24 10:49:51 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37172
2025-04-24 10:49:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:51 [info] currentZPosition:0.0769
2025-04-24 10:49:52 [debug] Stopped at height 0.075 mm
2025-04-24 10:49:52 [debug] Stopped at height 0.074 mm
2025-04-24 10:49:53 [debug] Stopped at height 0.079 mm
2025-04-24 10:49:53 [debug] Diagnostics for board 50:
2025-04-24 10:49:53 [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 10:49:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:51:58 ago, cause: software
2025-04-24 10:49:53 [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 10:49:53 [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 10:49:53 [debug] Moves scheduled 9163, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 107, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:53 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 24242, writes 0 timeouts 0
2025-04-24 10:49:53 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36396/37173
2025-04-24 10:49:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:53 [info] currentZPosition:0.0786
2025-04-24 10:49:54 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:55 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:55 [debug] Diagnostics for board 50:
2025-04-24 10:49:55 [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 10:49:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:00 ago, cause: software
2025-04-24 10:49:55 [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 10:49:55 [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 10:49:55 [debug] Moves scheduled 9169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 116, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:55 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21473, writes 0 timeouts 0
2025-04-24 10:49:55 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37177
2025-04-24 10:49:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:55 [info] currentZPosition:0.0779
2025-04-24 10:49:56 [debug] Stopped at height 0.078 mm
2025-04-24 10:49:56 [debug] Diagnostics for board 50:
2025-04-24 10:49:56 [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 10:49:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:01 ago, cause: software
2025-04-24 10:49:56 [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 10:49:56 [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 10:49:56 [debug] Moves scheduled 9173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 116, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:49:56 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16507, writes 0 timeouts 0
2025-04-24 10:49:56 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37172
2025-04-24 10:49:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:56 [info] currentZPosition:0.0782
2025-04-24 10:49:58 [debug] Stopped at height 0.079 mm
2025-04-24 10:49:58 [debug] Diagnostics for board 50:
2025-04-24 10:49:58 [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 10:49:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:02 ago, cause: software
2025-04-24 10:49:58 [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 10:49:58 [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 10:49:58 [debug] Moves scheduled 9177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 118, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:49:58 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17089, writes 0 timeouts 0
2025-04-24 10:49:58 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37175
2025-04-24 10:49:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:58 [info] currentZPosition:0.0786
2025-04-24 10:49:59 [debug] Stopped at height 0.077 mm
2025-04-24 10:49:59 [debug] Diagnostics for board 50:
2025-04-24 10:49:59 [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 10:49:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:04 ago, cause: software
2025-04-24 10:49:59 [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 10:49:59 [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 10:49:59 [debug] Moves scheduled 9181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6521, max=17857
Sync err accum 117, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:49:59 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17158, writes 0 timeouts 0
2025-04-24 10:49:59 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37176
2025-04-24 10:49:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:49:59 [info] currentZPosition:0.0768
2025-04-24 10:49:59 [debug] Stopped at height 0.077 mm
2025-04-24 10:50:01 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:01 [debug] Diagnostics for board 50:
2025-04-24 10:50:01 [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 10:50:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:05 ago, cause: software
2025-04-24 10:50:01 [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 10:50:01 [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 10:50:01 [debug] Moves scheduled 9187, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=6756, max=17045
Sync err accum 111, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:01 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20538, writes 0 timeouts 0
2025-04-24 10:50:01 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37175
2025-04-24 10:50:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:01 [info] currentZPosition:0.0785
2025-04-24 10:50:01 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:02 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:02 [debug] Diagnostics for board 50:
2025-04-24 10:50:02 [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 10:50:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:07 ago, cause: software
2025-04-24 10:50:02 [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 10:50:02 [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 10:50:02 [debug] Moves scheduled 9193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:02 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20450, writes 0 timeouts 0
2025-04-24 10:50:02 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37177
2025-04-24 10:50:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:02 [info] currentZPosition:0.0786
2025-04-24 10:50:04 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:04 [debug] Diagnostics for board 50:
2025-04-24 10:50:04 [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 10:50:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:08 ago, cause: software
2025-04-24 10:50:04 [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 10:50:04 [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 10:50:04 [debug] Moves scheduled 9197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 95, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:04 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17251, writes 0 timeouts 0
2025-04-24 10:50:04 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37176
2025-04-24 10:50:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:04 [info] currentZPosition:0.0783
2025-04-24 10:50:05 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:05 [debug] Diagnostics for board 50:
2025-04-24 10:50:05 [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 10:50:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:10 ago, cause: software
2025-04-24 10:50:05 [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 10:50:05 [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 10:50:05 [debug] Moves scheduled 9201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:50:05 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16580, writes 0 timeouts 0
2025-04-24 10:50:05 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36299/37177
2025-04-24 10:50:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:05 [info] currentZPosition:0.0784
2025-04-24 10:50:06 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:06 [debug] Diagnostics for board 50:
2025-04-24 10:50:06 [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 10:50:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:11 ago, cause: software
2025-04-24 10:50:06 [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 10:50:06 [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 10:50:06 [debug] Moves scheduled 9205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 68, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:06 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17246, writes 0 timeouts 0
2025-04-24 10:50:06 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37178
2025-04-24 10:50:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:06 [info] currentZPosition:0.0783
2025-04-24 10:50:08 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:08 [debug] Diagnostics for board 50:
2025-04-24 10:50:08 [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 10:50:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:12 ago, cause: software
2025-04-24 10:50:08 [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 10:50:08 [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 10:50:08 [debug] Moves scheduled 9209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 57, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:08 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16512, writes 0 timeouts 0
2025-04-24 10:50:08 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36171/37177
2025-04-24 10:50:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:08 [info] currentZPosition:0.0785
2025-04-24 10:50:09 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:09 [debug] Diagnostics for board 50:
2025-04-24 10:50:09 [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 10:50:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:14 ago, cause: software
2025-04-24 10:50:09 [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 10:50:09 [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 10:50:09 [debug] Moves scheduled 9213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 73, peak jitter 0/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:09 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17116, writes 0 timeouts 0
2025-04-24 10:50:09 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36102/37175
2025-04-24 10:50:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:09 [info] currentZPosition:0.0787
2025-04-24 10:50:10 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:10 [debug] Diagnostics for board 50:
2025-04-24 10:50:10 [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 10:50:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:15 ago, cause: software
2025-04-24 10:50:10 [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 10:50:10 [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 10:50:10 [debug] Moves scheduled 9217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:10 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16808, writes 0 timeouts 0
2025-04-24 10:50:10 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37172
2025-04-24 10:50:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:10 [info] currentZPosition:0.0782
2025-04-24 10:50:12 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:12 [debug] Diagnostics for board 50:
2025-04-24 10:50:12 [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 10:50:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:52:16 ago, cause: software
2025-04-24 10:50:12 [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 10:50:12 [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 10:50:12 [debug] Moves scheduled 9221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=615, max=17045
Sync err accum 92, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:12 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17108, writes 11 timeouts 1
2025-04-24 10:50:12 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37174
2025-04-24 10:50:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:12 [info] currentZPosition:0.0783
2025-04-24 10:50:13 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:13 [debug] Diagnostics for board 50:
2025-04-24 10:50:13 [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 10:50:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:18 ago, cause: software
2025-04-24 10:50:13 [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 10:50:13 [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 10:50:13 [debug] Moves scheduled 9225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 99, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:13 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16639, writes 0 timeouts 0
2025-04-24 10:50:13 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36166/37176
2025-04-24 10:50:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:13 [info] currentZPosition:0.0781
2025-04-24 10:50:14 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:14 [debug] Diagnostics for board 50:
2025-04-24 10:50:14 [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 10:50:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:19 ago, cause: software
2025-04-24 10:50:14 [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 10:50:14 [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 10:50:14 [debug] Moves scheduled 9229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294929415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:14 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17139, writes 0 timeouts 0
2025-04-24 10:50:14 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37171
2025-04-24 10:50:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:14 [info] currentZPosition:0.0784
2025-04-24 10:50:16 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:16 [debug] Diagnostics for board 50:
2025-04-24 10:50:16 [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 10:50:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:21 ago, cause: software
2025-04-24 10:50:16 [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 10:50:16 [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 10:50:16 [debug] Moves scheduled 9233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 103, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:16 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16752, writes 0 timeouts 0
2025-04-24 10:50:16 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37176
2025-04-24 10:50:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:16 [info] currentZPosition:0.0778
2025-04-24 10:50:17 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:17 [debug] Diagnostics for board 50:
2025-04-24 10:50:17 [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 10:50:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:22 ago, cause: software
2025-04-24 10:50:17 [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 10:50:17 [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 10:50:17 [debug] Moves scheduled 9237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 100, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:17 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16821, writes 0 timeouts 0
2025-04-24 10:50:17 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37176
2025-04-24 10:50:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:17 [info] currentZPosition:0.0788
2025-04-24 10:50:18 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:18 [debug] Diagnostics for board 50:
2025-04-24 10:50:18 [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 10:50:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:23 ago, cause: software
2025-04-24 10:50:18 [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 10:50:18 [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 10:50:18 [debug] Moves scheduled 9241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6198, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:18 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16963, writes 0 timeouts 0
2025-04-24 10:50:18 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37174
2025-04-24 10:50:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:18 [info] currentZPosition:0.0776
2025-04-24 10:50:20 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:20 [debug] Diagnostics for board 50:
2025-04-24 10:50:20 [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 10:50:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:25 ago, cause: software
2025-04-24 10:50:20 [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 10:50:20 [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 10:50:20 [debug] Moves scheduled 9245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 88, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:20 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16915, writes 0 timeouts 0
2025-04-24 10:50:20 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37177
2025-04-24 10:50:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:20 [info] currentZPosition:0.0785
2025-04-24 10:50:21 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:21 [debug] Diagnostics for board 50:
2025-04-24 10:50:21 [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 10:50:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:26 ago, cause: software
2025-04-24 10:50:21 [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 10:50:21 [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 10:50:21 [debug] Moves scheduled 9249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 81, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:21 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16538, writes 0 timeouts 0
2025-04-24 10:50:21 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37177
2025-04-24 10:50:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:21 [info] currentZPosition:0.0785
2025-04-24 10:50:22 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:22 [debug] Diagnostics for board 50:
2025-04-24 10:50:22 [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 10:50:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:27 ago, cause: software
2025-04-24 10:50:22 [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 10:50:22 [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 10:50:22 [debug] Moves scheduled 9253, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 67, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:50:22 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17192, writes 0 timeouts 0
2025-04-24 10:50:22 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37178
2025-04-24 10:50:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:23 [info] currentZPosition:0.0786
2025-04-24 10:50:24 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:24 [debug] Diagnostics for board 50:
2025-04-24 10:50:24 [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 10:50:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:29 ago, cause: software
2025-04-24 10:50:24 [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 10:50:24 [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 10:50:24 [debug] Moves scheduled 9257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:24 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16801, writes 0 timeouts 0
2025-04-24 10:50:24 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37176
2025-04-24 10:50:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:24 [info] currentZPosition:0.0781
2025-04-24 10:50:25 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:25 [debug] Diagnostics for board 50:
2025-04-24 10:50:25 [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 10:50:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:30 ago, cause: software
2025-04-24 10:50:25 [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 10:50:25 [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 10:50:25 [debug] Moves scheduled 9261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 82, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:25 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16744, writes 0 timeouts 0
2025-04-24 10:50:25 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37167
2025-04-24 10:50:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:25 [info] currentZPosition:0.0795
2025-04-24 10:50:26 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:27 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:27 [debug] Diagnostics for board 50:
2025-04-24 10:50:27 [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 10:50:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:32 ago, cause: software
2025-04-24 10:50:27 [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 10:50:27 [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 10:50:27 [debug] Moves scheduled 9267, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 98, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:27 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20763, writes 0 timeouts 0
2025-04-24 10:50:27 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36162/37175
2025-04-24 10:50:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:27 [info] currentZPosition:0.0785
2025-04-24 10:50:28 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:28 [debug] Diagnostics for board 50:
2025-04-24 10:50:28 [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 10:50:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:33 ago, cause: software
2025-04-24 10:50:28 [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 10:50:28 [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 10:50:28 [debug] Moves scheduled 9271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6465, max=17857
Sync err accum 109, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:28 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16808, writes 0 timeouts 0
2025-04-24 10:50:28 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37174
2025-04-24 10:50:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:28 [info] currentZPosition:0.0797
2025-04-24 10:50:29 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:29 [debug] Diagnostics for board 50:
2025-04-24 10:50:29 [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 10:50:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:34 ago, cause: software
2025-04-24 10:50:29 [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 10:50:29 [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 10:50:29 [debug] Moves scheduled 9275, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6355, max=17441
Sync err accum 115, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:29 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16409, writes 0 timeouts 0
2025-04-24 10:50:29 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37175
2025-04-24 10:50:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8687, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:30 [info] currentZPosition:0.0802
2025-04-24 10:50:31 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:31 [debug] Diagnostics for board 50:
2025-04-24 10:50:31 [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 10:50:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:36 ago, cause: software
2025-04-24 10:50:31 [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 10:50:31 [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 10:50:31 [debug] Moves scheduled 9279, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6250, max=17045
Sync err accum 122, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:50:31 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17759, writes 0 timeouts 0
2025-04-24 10:50:31 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 10:50:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8767, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:31 [info] currentZPosition:0.0786
2025-04-24 10:50:31 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:33 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:33 [debug] Diagnostics for board 50:
2025-04-24 10:50:33 [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 10:50:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:37 ago, cause: software
2025-04-24 10:50:33 [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 10:50:33 [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 10:50:33 [debug] Moves scheduled 9285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=18292
Sync err accum 126, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:50:33 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20113, writes 0 timeouts 0
2025-04-24 10:50:33 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36163/37177
2025-04-24 10:50:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4560, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:33 [info] currentZPosition:0.0794
2025-04-24 10:50:34 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:34 [debug] Diagnostics for board 50:
2025-04-24 10:50:34 [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 10:50:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:39 ago, cause: software
2025-04-24 10:50:34 [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 10:50:34 [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 10:50:34 [debug] Moves scheduled 9289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17857
Sync err accum 119, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:34 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17437, writes 0 timeouts 0
2025-04-24 10:50:34 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36095/37177
2025-04-24 10:50:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:34 [info] currentZPosition:0.0787
2025-04-24 10:50:35 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:35 [debug] Diagnostics for board 50:
2025-04-24 10:50:35 [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 10:50:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:40 ago, cause: software
2025-04-24 10:50:35 [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 10:50:35 [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 10:50:35 [debug] Moves scheduled 9293, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 114, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:50:35 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16539, writes 0 timeouts 0
2025-04-24 10:50:35 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37176
2025-04-24 10:50:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:35 [info] currentZPosition:0.0789
2025-04-24 10:50:37 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:37 [debug] Diagnostics for board 50:
2025-04-24 10:50:37 [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 10:50:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:41 ago, cause: software
2025-04-24 10:50:37 [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 10:50:37 [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 10:50:37 [debug] Moves scheduled 9297, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 106, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:50:37 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16947, writes 0 timeouts 0
2025-04-24 10:50:37 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36113/37176
2025-04-24 10:50:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:37 [info] currentZPosition:0.0795
2025-04-24 10:50:38 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:38 [debug] Diagnostics for board 50:
2025-04-24 10:50:38 [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 10:50:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:43 ago, cause: software
2025-04-24 10:50:38 [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 10:50:38 [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 10:50:38 [debug] Moves scheduled 9301, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 93, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:38 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17086, writes 0 timeouts 0
2025-04-24 10:50:38 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37174
2025-04-24 10:50:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:38 [info] currentZPosition:0.0779
2025-04-24 10:50:38 [debug] Stopped at height 0.077 mm
2025-04-24 10:50:40 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:40 [debug] Diagnostics for board 50:
2025-04-24 10:50:40 [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 10:50:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:44 ago, cause: software
2025-04-24 10:50:40 [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 10:50:40 [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 10:50:40 [debug] Moves scheduled 9307, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7075, max=17857
Sync err accum 75, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:40 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20472, writes 0 timeouts 0
2025-04-24 10:50:40 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36103/37175
2025-04-24 10:50:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:40 [info] currentZPosition:0.0801
2025-04-24 10:50:40 [debug] Stopped at height 0.082 mm
2025-04-24 10:50:40 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:42 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:42 [debug] Diagnostics for board 50:
2025-04-24 10:50:42 [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 10:50:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:46 ago, cause: software
2025-04-24 10:50:42 [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 10:50:42 [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 10:50:42 [debug] Moves scheduled 9315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=868, max=17045
Sync err accum 64, peak jitter -4/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:42 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 24545, writes 11 timeouts 1
2025-04-24 10:50:42 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36162/37179
2025-04-24 10:50:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:42 [info] currentZPosition:0.0803
2025-04-24 10:50:42 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:43 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:43 [debug] Diagnostics for board 50:
2025-04-24 10:50:43 [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 10:50:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:48 ago, cause: software
2025-04-24 10:50:43 [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 10:50:43 [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 10:50:43 [debug] Moves scheduled 9321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 76, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:43 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21395, writes 0 timeouts 0
2025-04-24 10:50:43 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 10:50:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:43 [info] currentZPosition:0.0796
2025-04-24 10:50:45 [debug] Stopped at height 0.081 mm
2025-04-24 10:50:45 [debug] Diagnostics for board 50:
2025-04-24 10:50:45 [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 10:50:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:49 ago, cause: software
2025-04-24 10:50:45 [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 10:50:45 [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 10:50:45 [debug] Moves scheduled 9325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6944, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:45 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16297, writes 0 timeouts 0
2025-04-24 10:50:45 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37174
2025-04-24 10:50:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:45 [info] currentZPosition:0.0806
2025-04-24 10:50:46 [debug] Stopped at height 0.078 mm
2025-04-24 10:50:46 [debug] Diagnostics for board 50:
2025-04-24 10:50:46 [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 10:50:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:51 ago, cause: software
2025-04-24 10:50:46 [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 10:50:46 [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 10:50:46 [debug] Moves scheduled 9329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6355, max=17857
Sync err accum 89, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:46 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17961, writes 0 timeouts 0
2025-04-24 10:50:46 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37175
2025-04-24 10:50:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:46 [info] currentZPosition:0.0780
2025-04-24 10:50:46 [debug] Stopped at height 0.077 mm
2025-04-24 10:50:48 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:48 [debug] Diagnostics for board 50:
2025-04-24 10:50:48 [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 10:50:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:52 ago, cause: software
2025-04-24 10:50:48 [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 10:50:48 [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 10:50:48 [debug] Moves scheduled 9335, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:48 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19923, writes 0 timeouts 0
2025-04-24 10:50:48 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37175
2025-04-24 10:50:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:48 [info] currentZPosition:0.0803
2025-04-24 10:50:48 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:49 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:49 [debug] Diagnostics for board 50:
2025-04-24 10:50:49 [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 10:50:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:54 ago, cause: software
2025-04-24 10:50:49 [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 10:50:49 [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 10:50:49 [debug] Moves scheduled 9341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6410, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:49 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21231, writes 0 timeouts 0
2025-04-24 10:50:49 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36096/37176
2025-04-24 10:50:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:49 [info] currentZPosition:0.0800
2025-04-24 10:50:51 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:51 [debug] Diagnostics for board 50:
2025-04-24 10:50:51 [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 10:50:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:55 ago, cause: software
2025-04-24 10:50:51 [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 10:50:51 [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 10:50:51 [debug] Moves scheduled 9345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 90, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:51 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16945, writes 0 timeouts 0
2025-04-24 10:50:51 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36165/37173
2025-04-24 10:50:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:51 [info] currentZPosition:0.0788
2025-04-24 10:50:52 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:52 [debug] Diagnostics for board 50:
2025-04-24 10:50:52 [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 10:50:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:57 ago, cause: software
2025-04-24 10:50:52 [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 10:50:52 [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 10:50:52 [debug] Moves scheduled 9349, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
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 4294936072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:52 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16796, writes 0 timeouts 0
2025-04-24 10:50:52 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37176
2025-04-24 10:50:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8739, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:52 [info] currentZPosition:0.0799
2025-04-24 10:50:53 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:53 [debug] Diagnostics for board 50:
2025-04-24 10:50:53 [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 10:50:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:52:58 ago, cause: software
2025-04-24 10:50:53 [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 10:50:53 [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 10:50:53 [debug] Moves scheduled 9353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter -1/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:53 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16460, writes 0 timeouts 0
2025-04-24 10:50:53 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36162/37177
2025-04-24 10:50:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:53 [info] currentZPosition:0.0803
2025-04-24 10:50:55 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:55 [debug] Diagnostics for board 50:
2025-04-24 10:50:55 [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 10:50:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:00 ago, cause: software
2025-04-24 10:50:55 [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 10:50:55 [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 10:50:55 [debug] Moves scheduled 9357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 65, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:55 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17576, writes 0 timeouts 0
2025-04-24 10:50:55 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 10:50:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:55 [info] currentZPosition:0.0790
2025-04-24 10:50:55 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:56 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:56 [debug] Diagnostics for board 50:
2025-04-24 10:50:56 [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 10:50:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:01 ago, cause: software
2025-04-24 10:50:56 [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 10:50:56 [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 10:50:56 [debug] Moves scheduled 9363, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 68, peak jitter -3/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:50:56 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20133, writes 0 timeouts 0
2025-04-24 10:50:56 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36159/37175
2025-04-24 10:50:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:56 [info] currentZPosition:0.0799
2025-04-24 10:50:58 [debug] Stopped at height 0.080 mm
2025-04-24 10:50:58 [debug] Diagnostics for board 50:
2025-04-24 10:50:58 [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 10:50:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:03 ago, cause: software
2025-04-24 10:50:58 [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 10:50:58 [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 10:50:58 [debug] Moves scheduled 9367, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 86, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:50:58 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17103, writes 0 timeouts 0
2025-04-24 10:50:58 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37174
2025-04-24 10:50:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:58 [info] currentZPosition:0.0801
2025-04-24 10:50:59 [debug] Stopped at height 0.079 mm
2025-04-24 10:50:59 [debug] Diagnostics for board 50:
2025-04-24 10:50:59 [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 10:50:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:04 ago, cause: software
2025-04-24 10:50:59 [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 10:50:59 [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 10:50:59 [debug] Moves scheduled 9371, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 100, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294929589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:50:59 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16959, writes 0 timeouts 0
2025-04-24 10:50:59 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36277/37174
2025-04-24 10:50:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:50:59 [info] currentZPosition:0.0791
2025-04-24 10:51:00 [debug] Stopped at height 0.079 mm
2025-04-24 10:51:00 [debug] Diagnostics for board 50:
2025-04-24 10:51:00 [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 10:51:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:05 ago, cause: software
2025-04-24 10:51:00 [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 10:51:00 [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 10:51:00 [debug] Moves scheduled 9375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=5859, max=17045
Sync err accum 116, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:00 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17173, writes 0 timeouts 0
2025-04-24 10:51:00 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36109/37174
2025-04-24 10:51:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:01 [info] currentZPosition:0.0791
2025-04-24 10:51:02 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:02 [debug] Diagnostics for board 50:
2025-04-24 10:51:02 [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 10:51:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:07 ago, cause: software
2025-04-24 10:51:02 [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 10:51:02 [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 10:51:02 [debug] Moves scheduled 9379, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 125, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:02 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16306, writes 0 timeouts 0
2025-04-24 10:51:02 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37173
2025-04-24 10:51:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:02 [info] currentZPosition:0.0800
2025-04-24 10:51:03 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:03 [debug] Diagnostics for board 50:
2025-04-24 10:51:03 [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 10:51:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:08 ago, cause: software
2025-04-24 10:51:03 [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 10:51:03 [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 10:51:03 [debug] Moves scheduled 9383, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5639, max=17045
Sync err accum 124, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:03 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17011, writes 0 timeouts 0
2025-04-24 10:51:03 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37176
2025-04-24 10:51:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:03 [info] currentZPosition:0.0807
2025-04-24 10:51:04 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:04 [debug] Diagnostics for board 50:
2025-04-24 10:51:04 [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 10:51:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:09 ago, cause: software
2025-04-24 10:51:04 [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 10:51:04 [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 10:51:04 [debug] Moves scheduled 9387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=17857
Sync err accum 110, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:51:04 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17014, writes 0 timeouts 0
2025-04-24 10:51:04 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37173
2025-04-24 10:51:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:05 [info] currentZPosition:0.0795
2025-04-24 10:51:06 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:06 [debug] Diagnostics for board 50:
2025-04-24 10:51:06 [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 10:51:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:11 ago, cause: software
2025-04-24 10:51:06 [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 10:51:06 [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 10:51:06 [debug] Moves scheduled 9391, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6250, max=17045
Sync err accum 95, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:06 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16685, writes 0 timeouts 0
2025-04-24 10:51:06 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36110/37176
2025-04-24 10:51:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:06 [info] currentZPosition:0.0811
2025-04-24 10:51:06 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:07 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:07 [debug] Diagnostics for board 50:
2025-04-24 10:51:07 [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 10:51:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:12 ago, cause: software
2025-04-24 10:51:07 [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 10:51:07 [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 10:51:07 [debug] Moves scheduled 9397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 74, peak jitter -4/-2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:07 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20722, writes 0 timeouts 0
2025-04-24 10:51:07 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37176
2025-04-24 10:51:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:08 [info] currentZPosition:0.0802
2025-04-24 10:51:09 [debug] Stopped at height 0.079 mm
2025-04-24 10:51:09 [debug] Diagnostics for board 50:
2025-04-24 10:51:09 [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 10:51:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:14 ago, cause: software
2025-04-24 10:51:09 [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 10:51:09 [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 10:51:09 [debug] Moves scheduled 9401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 60, peak jitter -2/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:09 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17647, writes 0 timeouts 0
2025-04-24 10:51:09 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37177
2025-04-24 10:51:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:09 [info] currentZPosition:0.0788
2025-04-24 10:51:09 [debug] Stopped at height 0.078 mm
2025-04-24 10:51:10 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:10 [debug] Diagnostics for board 50:
2025-04-24 10:51:10 [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 10:51:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:15 ago, cause: software
2025-04-24 10:51:10 [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 10:51:10 [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 10:51:10 [debug] Moves scheduled 9407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter -1/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:10 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 19809, writes 0 timeouts 0
2025-04-24 10:51:10 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36378/37176
2025-04-24 10:51:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:11 [info] currentZPosition:0.0814
2025-04-24 10:51:11 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:12 [debug] Stopped at height 0.079 mm
2025-04-24 10:51:12 [debug] Diagnostics for board 50:
2025-04-24 10:51:12 [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 10:51:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:17 ago, cause: software
2025-04-24 10:51:12 [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 10:51:12 [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 10:51:12 [debug] Moves scheduled 9413, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
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 4294933589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:51:12 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21808, writes 0 timeouts 0
2025-04-24 10:51:12 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37174
2025-04-24 10:51:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:12 [info] currentZPosition:0.0793
2025-04-24 10:51:13 [debug] Stopped at height 0.079 mm
2025-04-24 10:51:14 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:14 [debug] Diagnostics for board 50:
2025-04-24 10:51:14 [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 10:51:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:19 ago, cause: software
2025-04-24 10:51:14 [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 10:51:14 [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 10:51:14 [debug] Moves scheduled 9419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:14 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20481, writes 0 timeouts 0
2025-04-24 10:51:14 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 284, adv 36379/37176
2025-04-24 10:51:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:14 [info] currentZPosition:0.0798
2025-04-24 10:51:15 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:15 [debug] Diagnostics for board 50:
2025-04-24 10:51:15 [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 10:51:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:20 ago, cause: software
2025-04-24 10:51:15 [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 10:51:15 [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 10:51:15 [debug] Moves scheduled 9423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6097, max=17045
Sync err accum 99, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:51:15 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17270, writes 0 timeouts 0
2025-04-24 10:51:15 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36106/37176
2025-04-24 10:51:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:15 [info] currentZPosition:0.0795
2025-04-24 10:51:17 [debug] Stopped at height 0.079 mm
2025-04-24 10:51:17 [debug] Diagnostics for board 50:
2025-04-24 10:51:17 [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 10:51:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:21 ago, cause: software
2025-04-24 10:51:17 [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 10:51:17 [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 10:51:17 [debug] Moves scheduled 9427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:17 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16666, writes 0 timeouts 0
2025-04-24 10:51:17 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36403/37171
2025-04-24 10:51:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:17 [info] currentZPosition:0.0793
2025-04-24 10:51:18 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:18 [debug] Diagnostics for board 50:
2025-04-24 10:51:18 [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 10:51:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:23 ago, cause: software
2025-04-24 10:51:18 [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 10:51:18 [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 10:51:18 [debug] Moves scheduled 9431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:18 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16751, writes 0 timeouts 0
2025-04-24 10:51:18 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37176
2025-04-24 10:51:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:18 [info] currentZPosition:0.0807
2025-04-24 10:51:18 [debug] Stopped at height 0.083 mm
2025-04-24 10:51:19 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:19 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:20 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:20 [debug] Diagnostics for board 50:
2025-04-24 10:51:20 [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 10:51:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:25 ago, cause: software
2025-04-24 10:51:20 [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 10:51:20 [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 10:51:20 [debug] Moves scheduled 9441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:20 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 28558, writes 0 timeouts 0
2025-04-24 10:51:20 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, send timeouts 0, received 32, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37177
2025-04-24 10:51:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:20 [info] currentZPosition:0.0812
2025-04-24 10:51:22 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:22 [debug] Diagnostics for board 50:
2025-04-24 10:51:22 [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 10:51:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:26 ago, cause: software
2025-04-24 10:51:22 [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 10:51:22 [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 10:51:22 [debug] Moves scheduled 9445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:22 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17542, writes 0 timeouts 0
2025-04-24 10:51:22 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37176
2025-04-24 10:51:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:22 [info] currentZPosition:0.0799
2025-04-24 10:51:22 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:23 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:23 [debug] Diagnostics for board 50:
2025-04-24 10:51:23 [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 10:51:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:28 ago, cause: software
2025-04-24 10:51:23 [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 10:51:23 [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 10:51:23 [debug] Moves scheduled 9451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:23 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20030, writes 0 timeouts 0
2025-04-24 10:51:23 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37176
2025-04-24 10:51:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8711, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:23 [info] currentZPosition:0.0815
2025-04-24 10:51:24 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:25 [debug] Stopped at height 0.079 mm
2025-04-24 10:51:25 [debug] Diagnostics for board 50:
2025-04-24 10:51:25 [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 10:51:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:30 ago, cause: software
2025-04-24 10:51:25 [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 10:51:25 [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 10:51:25 [debug] Moves scheduled 9457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6818, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:51:25 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 21682, writes 0 timeouts 0
2025-04-24 10:51:25 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37177
2025-04-24 10:51:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:25 [info] currentZPosition:0.0794
2025-04-24 10:51:26 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:26 [debug] Diagnostics for board 50:
2025-04-24 10:51:26 [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 10:51:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:31 ago, cause: software
2025-04-24 10:51:26 [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 10:51:26 [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 10:51:26 [debug] Moves scheduled 9461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 59, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:26 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16216, writes 0 timeouts 0
2025-04-24 10:51:26 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36398/37177
2025-04-24 10:51:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:26 [info] currentZPosition:0.0806
2025-04-24 10:51:28 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:28 [debug] Diagnostics for board 50:
2025-04-24 10:51:28 [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 10:51:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:32 ago, cause: software
2025-04-24 10:51:28 [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 10:51:28 [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 10:51:28 [debug] Moves scheduled 9465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=74, frequency (Hz): min=6250, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:28 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17356, writes 0 timeouts 0
2025-04-24 10:51:28 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37175
2025-04-24 10:51:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:28 [info] currentZPosition:0.0801
2025-04-24 10:51:29 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:29 [debug] Diagnostics for board 50:
2025-04-24 10:51:29 [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 10:51:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:34 ago, cause: software
2025-04-24 10:51:29 [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 10:51:29 [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 10:51:29 [debug] Moves scheduled 9469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 86, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:51:29 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16462, writes 0 timeouts 0
2025-04-24 10:51:29 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37172
2025-04-24 10:51:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:29 [info] currentZPosition:0.0809
2025-04-24 10:51:30 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:30 [debug] Diagnostics for board 50:
2025-04-24 10:51:30 [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 10:51:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:35 ago, cause: software
2025-04-24 10:51:30 [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 10:51:30 [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 10:51:30 [debug] Moves scheduled 9473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 97, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:30 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17274, writes 0 timeouts 0
2025-04-24 10:51:30 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36095/37173
2025-04-24 10:51:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:30 [info] currentZPosition:0.0806
2025-04-24 10:51:32 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:32 [debug] Diagnostics for board 50:
2025-04-24 10:51:32 [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 10:51:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:36 ago, cause: software
2025-04-24 10:51:32 [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 10:51:32 [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 10:51:32 [debug] Moves scheduled 9477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=505, max=17045
Sync err accum 107, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:51:32 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16473, writes 11 timeouts 1
2025-04-24 10:51:32 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37172
2025-04-24 10:51:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:32 [info] currentZPosition:0.0810
2025-04-24 10:51:33 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:33 [debug] Diagnostics for board 50:
2025-04-24 10:51:33 [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 10:51:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:38 ago, cause: software
2025-04-24 10:51:33 [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 10:51:33 [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 10:51:33 [debug] Moves scheduled 9481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6147, max=17045
Sync err accum 113, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:33 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17119, writes 0 timeouts 0
2025-04-24 10:51:33 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37173
2025-04-24 10:51:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:33 [info] currentZPosition:0.0812
2025-04-24 10:51:34 [debug] Stopped at height 0.079 mm
2025-04-24 10:51:34 [debug] Diagnostics for board 50:
2025-04-24 10:51:34 [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 10:51:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:39 ago, cause: software
2025-04-24 10:51:34 [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 10:51:34 [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 10:51:34 [debug] Moves scheduled 9485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 117, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:34 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17391, writes 0 timeouts 0
2025-04-24 10:51:34 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36375/37173
2025-04-24 10:51:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:34 [info] currentZPosition:0.0789
2025-04-24 10:51:35 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:36 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:36 [debug] Diagnostics for board 50:
2025-04-24 10:51:36 [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 10:51:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:41 ago, cause: software
2025-04-24 10:51:36 [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 10:51:36 [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 10:51:36 [debug] Moves scheduled 9491, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 116, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:51:36 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20800, writes 0 timeouts 0
2025-04-24 10:51:36 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36099/37176
2025-04-24 10:51:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:36 [info] currentZPosition:0.0798
2025-04-24 10:51:37 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:37 [debug] Diagnostics for board 50:
2025-04-24 10:51:37 [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 10:51:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:42 ago, cause: software
2025-04-24 10:51:37 [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 10:51:37 [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 10:51:37 [debug] Moves scheduled 9495, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 114, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:37 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16250, writes 0 timeouts 0
2025-04-24 10:51:37 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36400/37175
2025-04-24 10:51:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:37 [info] currentZPosition:0.0810
2025-04-24 10:51:39 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:39 [debug] Diagnostics for board 50:
2025-04-24 10:51:39 [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 10:51:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:44 ago, cause: software
2025-04-24 10:51:39 [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 10:51:39 [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 10:51:39 [debug] Moves scheduled 9499, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6696, max=18292
Sync err accum 110, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:39 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17262, writes 0 timeouts 0
2025-04-24 10:51:39 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 10:51:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:39 [info] currentZPosition:0.0807
2025-04-24 10:51:40 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:40 [debug] Diagnostics for board 50:
2025-04-24 10:51:40 [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 10:51:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:45 ago, cause: software
2025-04-24 10:51:40 [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 10:51:40 [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 10:51:40 [debug] Moves scheduled 9503, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6818, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:40 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16470, writes 0 timeouts 0
2025-04-24 10:51:40 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37177
2025-04-24 10:51:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:40 [info] currentZPosition:0.0812
2025-04-24 10:51:41 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:41 [debug] Diagnostics for board 50:
2025-04-24 10:51:41 [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 10:51:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:46 ago, cause: software
2025-04-24 10:51:41 [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 10:51:41 [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 10:51:41 [debug] Moves scheduled 9507, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 97, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:51:41 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16881, writes 0 timeouts 0
2025-04-24 10:51:41 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37177
2025-04-24 10:51:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8701, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:41 [info] currentZPosition:0.0821
2025-04-24 10:51:43 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:43 [debug] Diagnostics for board 50:
2025-04-24 10:51:43 [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 10:51:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:53:48 ago, cause: software
2025-04-24 10:51:43 [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 10:51:43 [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 10:51:43 [debug] Moves scheduled 9511, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=595, max=17045
Sync err accum 86, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:43 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17118, writes 11 timeouts 1
2025-04-24 10:51:43 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37178
2025-04-24 10:51:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:43 [info] currentZPosition:0.0804
2025-04-24 10:51:43 [debug] Stopped at height 0.083 mm
2025-04-24 10:51:44 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:44 [debug] Diagnostics for board 50:
2025-04-24 10:51:44 [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 10:51:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:49 ago, cause: software
2025-04-24 10:51:44 [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 10:51:44 [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 10:51:44 [debug] Moves scheduled 9517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 69, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:51:44 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20902, writes 0 timeouts 0
2025-04-24 10:51:44 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36108/37176
2025-04-24 10:51:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:45 [info] currentZPosition:0.0810
2025-04-24 10:51:45 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:46 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:46 [debug] Diagnostics for board 50:
2025-04-24 10:51:46 [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 10:51:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:51 ago, cause: software
2025-04-24 10:51:46 [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 10:51:46 [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 10:51:46 [debug] Moves scheduled 9523, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 65, peak jitter -3/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:46 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20329, writes 0 timeouts 0
2025-04-24 10:51:46 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36397/37177
2025-04-24 10:51:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:46 [info] currentZPosition:0.0818
2025-04-24 10:51:47 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:47 [debug] Diagnostics for board 50:
2025-04-24 10:51:47 [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 10:51:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:52 ago, cause: software
2025-04-24 10:51:47 [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 10:51:47 [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 10:51:47 [debug] Moves scheduled 9527, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 78, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:51:47 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17250, writes 0 timeouts 0
2025-04-24 10:51:47 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37172
2025-04-24 10:51:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:48 [info] currentZPosition:0.0815
2025-04-24 10:51:49 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:49 [debug] Diagnostics for board 50:
2025-04-24 10:51:49 [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 10:51:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:54 ago, cause: software
2025-04-24 10:51:49 [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 10:51:49 [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 10:51:49 [debug] Moves scheduled 9531, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:51:49 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16554, writes 0 timeouts 0
2025-04-24 10:51:49 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37172
2025-04-24 10:51:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:49 [info] currentZPosition:0.0817
2025-04-24 10:51:50 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:50 [debug] Diagnostics for board 50:
2025-04-24 10:51:50 [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 10:51:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:55 ago, cause: software
2025-04-24 10:51:50 [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 10:51:50 [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 10:51:50 [debug] Moves scheduled 9535, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17857
Sync err accum 94, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:51:50 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17123, writes 0 timeouts 0
2025-04-24 10:51:50 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37174
2025-04-24 10:51:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:50 [info] currentZPosition:0.0818
2025-04-24 10:51:51 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:51 [debug] Diagnostics for board 50:
2025-04-24 10:51:51 [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 10:51:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:56 ago, cause: software
2025-04-24 10:51:51 [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 10:51:51 [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 10:51:51 [debug] Moves scheduled 9539, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 100, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:51 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16392, writes 0 timeouts 0
2025-04-24 10:51:51 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37175
2025-04-24 10:51:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:52 [info] currentZPosition:0.0823
2025-04-24 10:51:53 [debug] Stopped at height 0.080 mm
2025-04-24 10:51:53 [debug] Diagnostics for board 50:
2025-04-24 10:51:53 [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 10:51:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:58 ago, cause: software
2025-04-24 10:51:53 [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 10:51:53 [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 10:51:53 [debug] Moves scheduled 9543, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:53 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 18016, writes 0 timeouts 0
2025-04-24 10:51:53 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36101/37176
2025-04-24 10:51:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:53 [info] currentZPosition:0.0796
2025-04-24 10:51:53 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:55 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:55 [debug] Diagnostics for board 50:
2025-04-24 10:51:55 [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 10:51:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:53:59 ago, cause: software
2025-04-24 10:51:55 [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 10:51:55 [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 10:51:55 [debug] Moves scheduled 9549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 101, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:51:55 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20132, writes 0 timeouts 0
2025-04-24 10:51:55 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36282/37176
2025-04-24 10:51:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:55 [info] currentZPosition:0.0807
2025-04-24 10:51:55 [debug] Stopped at height 0.083 mm
2025-04-24 10:51:56 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:56 [debug] Diagnostics for board 50:
2025-04-24 10:51:56 [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 10:51:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:01 ago, cause: software
2025-04-24 10:51:56 [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 10:51:56 [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 10:51:56 [debug] Moves scheduled 9555, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17441
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 4294934759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:56 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20749, writes 0 timeouts 0
2025-04-24 10:51:56 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37175
2025-04-24 10:51:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:56 [info] currentZPosition:0.0816
2025-04-24 10:51:57 [debug] Stopped at height 0.081 mm
2025-04-24 10:51:58 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:58 [debug] Diagnostics for board 50:
2025-04-24 10:51:58 [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 10:51:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:03 ago, cause: software
2025-04-24 10:51:58 [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 10:51:58 [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 10:51:58 [debug] Moves scheduled 9561, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 94, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:51:58 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20621, writes 0 timeouts 0
2025-04-24 10:51:58 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37177
2025-04-24 10:51:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8750, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:58 [info] currentZPosition:0.0815
2025-04-24 10:51:59 [debug] Stopped at height 0.082 mm
2025-04-24 10:51:59 [debug] Diagnostics for board 50:
2025-04-24 10:51:59 [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 10:51:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:04 ago, cause: software
2025-04-24 10:51:59 [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 10:51:59 [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 10:51:59 [debug] Moves scheduled 9565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5952, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:51:59 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17166, writes 0 timeouts 0
2025-04-24 10:51:59 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37176
2025-04-24 10:51:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:51:59 [info] currentZPosition:0.0817
2025-04-24 10:52:01 [debug] Stopped at height 0.081 mm
2025-04-24 10:52:01 [debug] Diagnostics for board 50:
2025-04-24 10:52:01 [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 10:52:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:05 ago, cause: software
2025-04-24 10:52:01 [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 10:52:01 [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 10:52:01 [debug] Moves scheduled 9569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 78, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:01 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16661, writes 0 timeouts 0
2025-04-24 10:52:01 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37177
2025-04-24 10:52:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:01 [info] currentZPosition:0.0814
2025-04-24 10:52:02 [debug] Stopped at height 0.081 mm
2025-04-24 10:52:02 [debug] Diagnostics for board 50:
2025-04-24 10:52:02 [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 10:52:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:07 ago, cause: software
2025-04-24 10:52:02 [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 10:52:02 [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 10:52:02 [debug] Moves scheduled 9573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=7075, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:02 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17141, writes 0 timeouts 0
2025-04-24 10:52:02 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37177
2025-04-24 10:52:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:02 [info] currentZPosition:0.0814
2025-04-24 10:52:03 [debug] Stopped at height 0.080 mm
2025-04-24 10:52:03 [debug] Diagnostics for board 50:
2025-04-24 10:52:03 [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 10:52:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:08 ago, cause: software
2025-04-24 10:52:03 [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 10:52:03 [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 10:52:03 [debug] Moves scheduled 9577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5555, max=17045
Sync err accum 62, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:03 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17060, writes 0 timeouts 0
2025-04-24 10:52:03 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37178
2025-04-24 10:52:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:03 [info] currentZPosition:0.0799
2025-04-24 10:52:04 [debug] Stopped at height 0.079 mm
2025-04-24 10:52:05 [debug] Stopped at height 0.081 mm
2025-04-24 10:52:05 [debug] Diagnostics for board 50:
2025-04-24 10:52:05 [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 10:52:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:10 ago, cause: software
2025-04-24 10:52:05 [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 10:52:05 [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 10:52:05 [debug] Moves scheduled 9583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:05 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20710, writes 0 timeouts 0
2025-04-24 10:52:05 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36092/37174
2025-04-24 10:52:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:05 [info] currentZPosition:0.0812
2025-04-24 10:52:05 [debug] Stopped at height 0.080 mm
2025-04-24 10:52:07 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:07 [debug] Diagnostics for board 50:
2025-04-24 10:52:07 [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 10:52:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:11 ago, cause: software
2025-04-24 10:52:07 [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 10:52:07 [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 10:52:07 [debug] Moves scheduled 9589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=5905, max=17857
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:52:07 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20274, writes 0 timeouts 0
2025-04-24 10:52:07 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36161/37171
2025-04-24 10:52:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:07 [info] currentZPosition:0.0817
2025-04-24 10:52:07 [debug] Stopped at height 0.080 mm
2025-04-24 10:52:08 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:08 [debug] Diagnostics for board 50:
2025-04-24 10:52:08 [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 10:52:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:13 ago, cause: software
2025-04-24 10:52:08 [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 10:52:08 [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 10:52:08 [debug] Moves scheduled 9595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6756, max=17857
Sync err accum 102, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:08 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20917, writes 0 timeouts 0
2025-04-24 10:52:08 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36093/37175
2025-04-24 10:52:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:08 [info] currentZPosition:0.0825
2025-04-24 10:52:09 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:10 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:10 [debug] Diagnostics for board 50:
2025-04-24 10:52:10 [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 10:52:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:15 ago, cause: software
2025-04-24 10:52:10 [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 10:52:10 [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 10:52:10 [debug] Moves scheduled 9601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 111, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:10 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20518, writes 0 timeouts 0
2025-04-24 10:52:10 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37174
2025-04-24 10:52:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:10 [info] currentZPosition:0.0821
2025-04-24 10:52:11 [debug] Stopped at height 0.081 mm
2025-04-24 10:52:11 [debug] Diagnostics for board 50:
2025-04-24 10:52:11 [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 10:52:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:16 ago, cause: software
2025-04-24 10:52:11 [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 10:52:11 [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 10:52:11 [debug] Moves scheduled 9605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6355, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934378 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:11 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17505, writes 0 timeouts 0
2025-04-24 10:52:11 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37173
2025-04-24 10:52:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:11 [info] currentZPosition:0.0809
2025-04-24 10:52:13 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:13 [debug] Diagnostics for board 50:
2025-04-24 10:52:13 [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 10:52:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:17 ago, cause: software
2025-04-24 10:52:13 [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 10:52:13 [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 10:52:13 [debug] Moves scheduled 9609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17045
Sync err accum 115, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:13 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16211, writes 0 timeouts 0
2025-04-24 10:52:13 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36162/37174
2025-04-24 10:52:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:13 [info] currentZPosition:0.0821
2025-04-24 10:52:14 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:14 [debug] Diagnostics for board 50:
2025-04-24 10:52:14 [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 10:52:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:19 ago, cause: software
2025-04-24 10:52:14 [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 10:52:14 [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 10:52:14 [debug] Moves scheduled 9613, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17441
Sync err accum 115, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:14 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17346, writes 0 timeouts 0
2025-04-24 10:52:14 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37175
2025-04-24 10:52:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:14 [info] currentZPosition:0.0816
2025-04-24 10:52:15 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:15 [debug] Diagnostics for board 50:
2025-04-24 10:52:15 [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 10:52:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:20 ago, cause: software
2025-04-24 10:52:15 [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 10:52:15 [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 10:52:15 [debug] Moves scheduled 9617, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 115, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:15 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16589, writes 0 timeouts 0
2025-04-24 10:52:15 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36165/37176
2025-04-24 10:52:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:15 [info] currentZPosition:0.0816
2025-04-24 10:52:17 [debug] Stopped at height 0.081 mm
2025-04-24 10:52:17 [debug] Diagnostics for board 50:
2025-04-24 10:52:17 [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 10:52:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:54:21 ago, cause: software
2025-04-24 10:52:17 [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 10:52:17 [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 10:52:17 [debug] Moves scheduled 9621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 108, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:17 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17258, writes 0 timeouts 0
2025-04-24 10:52:17 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37176
2025-04-24 10:52:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:17 [info] currentZPosition:0.0811
2025-04-24 10:52:18 [debug] Stopped at height 0.080 mm
2025-04-24 10:52:18 [debug] Diagnostics for board 50:
2025-04-24 10:52:18 [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 10:52:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:23 ago, cause: software
2025-04-24 10:52:18 [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 10:52:18 [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 10:52:18 [debug] Moves scheduled 9625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:52:18 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17115, writes 0 timeouts 0
2025-04-24 10:52:18 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36151/37178
2025-04-24 10:52:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:18 [info] currentZPosition:0.0795
2025-04-24 10:52:18 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:20 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:20 [debug] Diagnostics for board 50:
2025-04-24 10:52:20 [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 10:52:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:24 ago, cause: software
2025-04-24 10:52:20 [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 10:52:20 [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 10:52:20 [debug] Moves scheduled 9631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 87, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:20 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20174, writes 0 timeouts 0
2025-04-24 10:52:20 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36103/37176
2025-04-24 10:52:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:20 [info] currentZPosition:0.0823
2025-04-24 10:52:21 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:21 [debug] Diagnostics for board 50:
2025-04-24 10:52:21 [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 10:52:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:26 ago, cause: software
2025-04-24 10:52:21 [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 10:52:21 [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 10:52:21 [debug] Moves scheduled 9635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 72, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:21 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16622, writes 0 timeouts 0
2025-04-24 10:52:21 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37176
2025-04-24 10:52:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:21 [info] currentZPosition:0.0821
2025-04-24 10:52:22 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:22 [debug] Diagnostics for board 50:
2025-04-24 10:52:22 [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 10:52:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:27 ago, cause: software
2025-04-24 10:52:22 [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 10:52:22 [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 10:52:22 [debug] Moves scheduled 9639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 59, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:22 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17342, writes 0 timeouts 0
2025-04-24 10:52:22 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37176
2025-04-24 10:52:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:22 [info] currentZPosition:0.0817
2025-04-24 10:52:24 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:24 [debug] Diagnostics for board 50:
2025-04-24 10:52:24 [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 10:52:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:29 ago, cause: software
2025-04-24 10:52:24 [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 10:52:24 [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 10:52:24 [debug] Moves scheduled 9643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6097, max=17045
Sync err accum 73, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:52:24 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16731, writes 0 timeouts 0
2025-04-24 10:52:24 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36159/37175
2025-04-24 10:52:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:24 [info] currentZPosition:0.0817
2025-04-24 10:52:25 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:25 [debug] Diagnostics for board 50:
2025-04-24 10:52:25 [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 10:52:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:30 ago, cause: software
2025-04-24 10:52:25 [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 10:52:25 [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 10:52:25 [debug] Moves scheduled 9647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17857
Sync err accum 90, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:25 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17185, writes 0 timeouts 0
2025-04-24 10:52:25 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 10:52:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:25 [info] currentZPosition:0.0817
2025-04-24 10:52:26 [debug] Stopped at height 0.081 mm
2025-04-24 10:52:26 [debug] Diagnostics for board 50:
2025-04-24 10:52:26 [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 10:52:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:31 ago, cause: software
2025-04-24 10:52:26 [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 10:52:26 [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 10:52:26 [debug] Moves scheduled 9651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 101, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:26 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16665, writes 0 timeouts 0
2025-04-24 10:52:26 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37171
2025-04-24 10:52:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:26 [info] currentZPosition:0.0814
2025-04-24 10:52:28 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:28 [debug] Diagnostics for board 50:
2025-04-24 10:52:28 [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 10:52:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:33 ago, cause: software
2025-04-24 10:52:28 [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 10:52:28 [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 10:52:28 [debug] Moves scheduled 9655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 113, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:28 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16808, writes 0 timeouts 0
2025-04-24 10:52:28 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37173
2025-04-24 10:52:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:28 [info] currentZPosition:0.0825
2025-04-24 10:52:29 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:29 [debug] Diagnostics for board 50:
2025-04-24 10:52:29 [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 10:52:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:34 ago, cause: software
2025-04-24 10:52:29 [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 10:52:29 [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 10:52:29 [debug] Moves scheduled 9659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 121, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:29 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16867, writes 0 timeouts 0
2025-04-24 10:52:29 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37173
2025-04-24 10:52:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:29 [info] currentZPosition:0.0818
2025-04-24 10:52:30 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:30 [debug] Diagnostics for board 50:
2025-04-24 10:52:30 [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 10:52:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:35 ago, cause: software
2025-04-24 10:52:30 [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 10:52:30 [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 10:52:30 [debug] Moves scheduled 9663, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 128, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:30 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16879, writes 0 timeouts 0
2025-04-24 10:52:30 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37173
2025-04-24 10:52:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:31 [info] currentZPosition:0.0827
2025-04-24 10:52:32 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:32 [debug] Diagnostics for board 50:
2025-04-24 10:52:32 [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 10:52:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:37 ago, cause: software
2025-04-24 10:52:32 [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 10:52:32 [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 10:52:32 [debug] Moves scheduled 9667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 121, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:32 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16649, writes 0 timeouts 0
2025-04-24 10:52:32 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37177
2025-04-24 10:52:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:32 [info] currentZPosition:0.0825
2025-04-24 10:52:33 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:33 [debug] Diagnostics for board 50:
2025-04-24 10:52:33 [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 10:52:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:38 ago, cause: software
2025-04-24 10:52:33 [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 10:52:33 [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 10:52:33 [debug] Moves scheduled 9671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6048, max=18292
Sync err accum 109, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:52:33 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17401, writes 0 timeouts 0
2025-04-24 10:52:33 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37176
2025-04-24 10:52:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:33 [info] currentZPosition:0.0818
2025-04-24 10:52:35 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:35 [debug] Diagnostics for board 50:
2025-04-24 10:52:35 [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 10:52:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:39 ago, cause: software
2025-04-24 10:52:35 [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 10:52:35 [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 10:52:35 [debug] Moves scheduled 9675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 98, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:35 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16692, writes 0 timeouts 0
2025-04-24 10:52:35 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37177
2025-04-24 10:52:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:35 [info] currentZPosition:0.0815
2025-04-24 10:52:36 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:36 [debug] Diagnostics for board 50:
2025-04-24 10:52:36 [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 10:52:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:54:41 ago, cause: software
2025-04-24 10:52:36 [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 10:52:36 [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 10:52:36 [debug] Moves scheduled 9679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17441
Sync err accum 82, peak jitter -4/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:36 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16941, writes 0 timeouts 0
2025-04-24 10:52:36 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36104/37180
2025-04-24 10:52:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:36 [info] currentZPosition:0.0822
2025-04-24 10:52:37 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:37 [debug] Diagnostics for board 50:
2025-04-24 10:52:37 [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 10:52:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:42 ago, cause: software
2025-04-24 10:52:37 [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 10:52:37 [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 10:52:37 [debug] Moves scheduled 9683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=109, frequency (Hz): min=6147, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:52:37 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16638, writes 0 timeouts 0
2025-04-24 10:52:37 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37178
2025-04-24 10:52:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:37 [info] currentZPosition:0.0818
2025-04-24 10:52:39 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:39 [debug] Diagnostics for board 50:
2025-04-24 10:52:39 [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 10:52:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:43 ago, cause: software
2025-04-24 10:52:39 [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 10:52:39 [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 10:52:39 [debug] Moves scheduled 9687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17857
Sync err accum 65, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:39 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16905, writes 0 timeouts 0
2025-04-24 10:52:39 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37179
2025-04-24 10:52:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:39 [info] currentZPosition:0.0827
2025-04-24 10:52:40 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:40 [debug] Diagnostics for board 50:
2025-04-24 10:52:40 [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 10:52:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:45 ago, cause: software
2025-04-24 10:52:40 [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 10:52:40 [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 10:52:40 [debug] Moves scheduled 9691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6410, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:52:40 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16779, writes 0 timeouts 0
2025-04-24 10:52:40 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37176
2025-04-24 10:52:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:40 [info] currentZPosition:0.0822
2025-04-24 10:52:41 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:41 [debug] Diagnostics for board 50:
2025-04-24 10:52:41 [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 10:52:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:46 ago, cause: software
2025-04-24 10:52:41 [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 10:52:41 [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 10:52:41 [debug] Moves scheduled 9695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 79, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:52:41 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17118, writes 0 timeouts 0
2025-04-24 10:52:41 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37174
2025-04-24 10:52:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:41 [info] currentZPosition:0.0825
2025-04-24 10:52:43 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:43 [debug] Diagnostics for board 50:
2025-04-24 10:52:43 [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 10:52:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:47 ago, cause: software
2025-04-24 10:52:43 [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 10:52:43 [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 10:52:43 [debug] Moves scheduled 9699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=5905, max=18292
Sync err accum 81, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:43 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16686, writes 0 timeouts 0
2025-04-24 10:52:43 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37171
2025-04-24 10:52:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:43 [info] currentZPosition:0.0822
2025-04-24 10:52:44 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:44 [debug] Diagnostics for board 50:
2025-04-24 10:52:44 [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 10:52:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:49 ago, cause: software
2025-04-24 10:52:44 [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 10:52:44 [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 10:52:44 [debug] Moves scheduled 9703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:44 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17248, writes 0 timeouts 0
2025-04-24 10:52:44 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36103/37174
2025-04-24 10:52:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:44 [info] currentZPosition:0.0821
2025-04-24 10:52:45 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:45 [debug] Diagnostics for board 50:
2025-04-24 10:52:45 [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 10:52:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:50 ago, cause: software
2025-04-24 10:52:45 [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 10:52:45 [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 10:52:45 [debug] Moves scheduled 9707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:45 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16452, writes 0 timeouts 0
2025-04-24 10:52:45 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36167/37175
2025-04-24 10:52:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:45 [info] currentZPosition:0.0825
2025-04-24 10:52:47 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:47 [debug] Diagnostics for board 50:
2025-04-24 10:52:47 [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 10:52:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:51 ago, cause: software
2025-04-24 10:52:47 [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 10:52:47 [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 10:52:47 [debug] Moves scheduled 9711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 78, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:47 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17189, writes 0 timeouts 0
2025-04-24 10:52:47 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36098/37176
2025-04-24 10:52:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:47 [info] currentZPosition:0.0824
2025-04-24 10:52:48 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:48 [debug] Diagnostics for board 50:
2025-04-24 10:52:48 [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 10:52:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:53 ago, cause: software
2025-04-24 10:52:48 [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 10:52:48 [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 10:52:48 [debug] Moves scheduled 9715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:48 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16852, writes 0 timeouts 0
2025-04-24 10:52:48 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36287/37178
2025-04-24 10:52:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:48 [info] currentZPosition:0.0816
2025-04-24 10:52:49 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:49 [debug] Diagnostics for board 50:
2025-04-24 10:52:49 [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 10:52:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:54 ago, cause: software
2025-04-24 10:52:49 [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 10:52:49 [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 10:52:49 [debug] Moves scheduled 9719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 64, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:49 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16765, writes 0 timeouts 0
2025-04-24 10:52:49 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37178
2025-04-24 10:52:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:49 [info] currentZPosition:0.0830
2025-04-24 10:52:50 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:51 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:51 [debug] Diagnostics for board 50:
2025-04-24 10:52:51 [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 10:52:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:54:56 ago, cause: software
2025-04-24 10:52:51 [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 10:52:51 [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 10:52:51 [debug] Moves scheduled 9725, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 69, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:51 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20556, writes 0 timeouts 0
2025-04-24 10:52:51 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37175
2025-04-24 10:52:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:51 [info] currentZPosition:0.0827
2025-04-24 10:52:52 [debug] Stopped at height 0.080 mm
2025-04-24 10:52:52 [debug] Diagnostics for board 50:
2025-04-24 10:52:52 [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 10:52:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:57 ago, cause: software
2025-04-24 10:52:52 [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 10:52:52 [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 10:52:52 [debug] Moves scheduled 9729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
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 4294936461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:52:52 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17920, writes 0 timeouts 0
2025-04-24 10:52:52 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37172
2025-04-24 10:52:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:53 [info] currentZPosition:0.0802
2025-04-24 10:52:53 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:54 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:54 [debug] Diagnostics for board 50:
2025-04-24 10:52:54 [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 10:52:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:54:59 ago, cause: software
2025-04-24 10:52:54 [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 10:52:54 [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 10:52:54 [debug] Moves scheduled 9735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:54 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 19788, writes 0 timeouts 0
2025-04-24 10:52:54 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36399/37177
2025-04-24 10:52:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:54 [info] currentZPosition:0.0825
2025-04-24 10:52:55 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:55 [debug] Diagnostics for board 50:
2025-04-24 10:52:55 [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 10:52:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:00 ago, cause: software
2025-04-24 10:52:55 [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 10:52:55 [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 10:52:55 [debug] Moves scheduled 9739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:55 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16893, writes 0 timeouts 0
2025-04-24 10:52:55 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37175
2025-04-24 10:52:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:55 [info] currentZPosition:0.0835
2025-04-24 10:52:57 [debug] Stopped at height 0.082 mm
2025-04-24 10:52:57 [debug] Diagnostics for board 50:
2025-04-24 10:52:57 [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 10:52:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:02 ago, cause: software
2025-04-24 10:52:57 [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 10:52:57 [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 10:52:57 [debug] Moves scheduled 9743, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:52:57 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17216, writes 0 timeouts 0
2025-04-24 10:52:57 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36395/37176
2025-04-24 10:52:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:57 [info] currentZPosition:0.0816
2025-04-24 10:52:57 [debug] Stopped at height 0.081 mm
2025-04-24 10:52:58 [debug] Stopped at height 0.083 mm
2025-04-24 10:52:58 [debug] Diagnostics for board 50:
2025-04-24 10:52:58 [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 10:52:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:03 ago, cause: software
2025-04-24 10:52:58 [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 10:52:58 [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 10:52:58 [debug] Moves scheduled 9749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:52:58 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20857, writes 0 timeouts 0
2025-04-24 10:52:58 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37177
2025-04-24 10:52:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:52:59 [info] currentZPosition:0.0825
2025-04-24 10:53:00 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:00 [debug] Diagnostics for board 50:
2025-04-24 10:53:00 [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 10:53:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:05 ago, cause: software
2025-04-24 10:53:00 [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 10:53:00 [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 10:53:00 [debug] Moves scheduled 9753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294928345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:00 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16680, writes 0 timeouts 0
2025-04-24 10:53:00 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37174
2025-04-24 10:53:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:00 [info] currentZPosition:0.0826
2025-04-24 10:53:01 [debug] Stopped at height 0.081 mm
2025-04-24 10:53:01 [debug] Diagnostics for board 50:
2025-04-24 10:53:01 [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 10:53:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:06 ago, cause: software
2025-04-24 10:53:01 [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 10:53:01 [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 10:53:01 [debug] Moves scheduled 9757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:01 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17556, writes 0 timeouts 0
2025-04-24 10:53:01 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36111/37177
2025-04-24 10:53:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:01 [info] currentZPosition:0.0814
2025-04-24 10:53:02 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:02 [debug] Diagnostics for board 50:
2025-04-24 10:53:02 [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 10:53:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:07 ago, cause: software
2025-04-24 10:53:02 [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 10:53:02 [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 10:53:02 [debug] Moves scheduled 9761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:02 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16290, writes 0 timeouts 0
2025-04-24 10:53:02 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37176
2025-04-24 10:53:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:03 [info] currentZPosition:0.0823
2025-04-24 10:53:04 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:04 [debug] Diagnostics for board 50:
2025-04-24 10:53:04 [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 10:53:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:09 ago, cause: software
2025-04-24 10:53:04 [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 10:53:04 [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 10:53:04 [debug] Moves scheduled 9765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:04 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17311, writes 0 timeouts 0
2025-04-24 10:53:04 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37177
2025-04-24 10:53:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:04 [info] currentZPosition:0.0820
2025-04-24 10:53:05 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:05 [debug] Diagnostics for board 50:
2025-04-24 10:53:05 [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 10:53:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:10 ago, cause: software
2025-04-24 10:53:05 [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 10:53:05 [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 10:53:05 [debug] Moves scheduled 9769, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:05 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16701, writes 0 timeouts 0
2025-04-24 10:53:05 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37175
2025-04-24 10:53:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:05 [info] currentZPosition:0.0820
2025-04-24 10:53:07 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:07 [debug] Diagnostics for board 50:
2025-04-24 10:53:07 [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 10:53:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:11 ago, cause: software
2025-04-24 10:53:07 [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 10:53:07 [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 10:53:07 [debug] Moves scheduled 9773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 75, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:53:07 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16851, writes 0 timeouts 0
2025-04-24 10:53:07 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36090/37174
2025-04-24 10:53:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:07 [info] currentZPosition:0.0830
2025-04-24 10:53:08 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:08 [debug] Diagnostics for board 50:
2025-04-24 10:53:08 [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 10:53:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:13 ago, cause: software
2025-04-24 10:53:08 [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 10:53:08 [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 10:53:08 [debug] Moves scheduled 9777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6147, max=17045
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 4294933781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:08 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16494, writes 0 timeouts 0
2025-04-24 10:53:08 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37175
2025-04-24 10:53:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:08 [info] currentZPosition:0.0832
2025-04-24 10:53:09 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:09 [debug] Diagnostics for board 50:
2025-04-24 10:53:09 [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 10:53:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:14 ago, cause: software
2025-04-24 10:53:09 [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 10:53:09 [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 10:53:09 [debug] Moves scheduled 9781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=18292
Sync err accum 77, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:09 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17323, writes 0 timeouts 0
2025-04-24 10:53:09 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 10:53:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:09 [info] currentZPosition:0.0827
2025-04-24 10:53:11 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:11 [debug] Diagnostics for board 50:
2025-04-24 10:53:11 [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 10:53:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:15 ago, cause: software
2025-04-24 10:53:11 [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 10:53:11 [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 10:53:11 [debug] Moves scheduled 9785, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6944, max=18292
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:11 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16480, writes 0 timeouts 0
2025-04-24 10:53:11 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36402/37170
2025-04-24 10:53:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:11 [info] currentZPosition:0.0831
2025-04-24 10:53:12 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:12 [debug] Diagnostics for board 50:
2025-04-24 10:53:12 [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 10:53:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:17 ago, cause: software
2025-04-24 10:53:12 [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 10:53:12 [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 10:53:12 [debug] Moves scheduled 9789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 71, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:12 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17528, writes 0 timeouts 0
2025-04-24 10:53:12 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37178
2025-04-24 10:53:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:12 [info] currentZPosition:0.0819
2025-04-24 10:53:13 [debug] Stopped at height 0.081 mm
2025-04-24 10:53:13 [debug] Diagnostics for board 50:
2025-04-24 10:53:13 [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 10:53:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:18 ago, cause: software
2025-04-24 10:53:13 [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 10:53:13 [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 10:53:13 [debug] Moves scheduled 9793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:13 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16994, writes 0 timeouts 0
2025-04-24 10:53:13 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37178
2025-04-24 10:53:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:13 [info] currentZPosition:0.0808
2025-04-24 10:53:15 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:15 [debug] Diagnostics for board 50:
2025-04-24 10:53:15 [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 10:53:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:19 ago, cause: software
2025-04-24 10:53:15 [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 10:53:15 [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 10:53:15 [debug] Moves scheduled 9797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:15 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16758, writes 0 timeouts 0
2025-04-24 10:53:15 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37176
2025-04-24 10:53:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:15 [info] currentZPosition:0.0823
2025-04-24 10:53:15 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:16 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:16 [debug] Diagnostics for board 50:
2025-04-24 10:53:16 [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 10:53:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:21 ago, cause: software
2025-04-24 10:53:16 [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 10:53:16 [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 10:53:16 [debug] Moves scheduled 9803, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:16 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20159, writes 0 timeouts 0
2025-04-24 10:53:16 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36380/37174
2025-04-24 10:53:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:16 [info] currentZPosition:0.0834
2025-04-24 10:53:17 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:18 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:18 [debug] Diagnostics for board 50:
2025-04-24 10:53:18 [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 10:53:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:23 ago, cause: software
2025-04-24 10:53:18 [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 10:53:18 [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 10:53:18 [debug] Moves scheduled 9809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 63, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:18 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 21322, writes 0 timeouts 0
2025-04-24 10:53:18 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37177
2025-04-24 10:53:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8761, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:18 [info] currentZPosition:0.0826
2025-04-24 10:53:19 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:19 [debug] Diagnostics for board 50:
2025-04-24 10:53:19 [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 10:53:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:24 ago, cause: software
2025-04-24 10:53:19 [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 10:53:19 [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 10:53:19 [debug] Moves scheduled 9813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6521, max=18292
Sync err accum 66, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:53:19 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16688, writes 0 timeouts 0
2025-04-24 10:53:19 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37171
2025-04-24 10:53:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:19 [info] currentZPosition:0.0823
2025-04-24 10:53:21 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:21 [debug] Diagnostics for board 50:
2025-04-24 10:53:21 [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 10:53:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:26 ago, cause: software
2025-04-24 10:53:21 [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 10:53:21 [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 10:53:21 [debug] Moves scheduled 9817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:21 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16891, writes 0 timeouts 0
2025-04-24 10:53:21 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37174
2025-04-24 10:53:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:21 [info] currentZPosition:0.0833
2025-04-24 10:53:22 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:22 [debug] Diagnostics for board 50:
2025-04-24 10:53:22 [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 10:53:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:27 ago, cause: software
2025-04-24 10:53:22 [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 10:53:22 [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 10:53:22 [debug] Moves scheduled 9821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:22 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16906, writes 0 timeouts 0
2025-04-24 10:53:22 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36405/37176
2025-04-24 10:53:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:22 [info] currentZPosition:0.0823
2025-04-24 10:53:23 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:23 [debug] Diagnostics for board 50:
2025-04-24 10:53:23 [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 10:53:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:28 ago, cause: software
2025-04-24 10:53:23 [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 10:53:23 [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 10:53:23 [debug] Moves scheduled 9825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:23 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16810, writes 0 timeouts 0
2025-04-24 10:53:23 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37170
2025-04-24 10:53:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:23 [info] currentZPosition:0.0836
2025-04-24 10:53:24 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:25 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:25 [debug] Diagnostics for board 50:
2025-04-24 10:53:25 [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 10:53:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:30 ago, cause: software
2025-04-24 10:53:25 [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 10:53:25 [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 10:53:25 [debug] Moves scheduled 9831, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 65, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294929042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:25 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20485, writes 0 timeouts 0
2025-04-24 10:53:25 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36401/37176
2025-04-24 10:53:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:25 [info] currentZPosition:0.0838
2025-04-24 10:53:26 [debug] Stopped at height 0.081 mm
2025-04-24 10:53:27 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:27 [debug] Diagnostics for board 50:
2025-04-24 10:53:27 [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 10:53:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:32 ago, cause: software
2025-04-24 10:53:27 [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 10:53:27 [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 10:53:27 [debug] Moves scheduled 9837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 69, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:27 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 21497, writes 0 timeouts 0
2025-04-24 10:53:27 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37176
2025-04-24 10:53:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:27 [info] currentZPosition:0.0823
2025-04-24 10:53:27 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:28 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:28 [debug] Diagnostics for board 50:
2025-04-24 10:53:28 [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 10:53:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:33 ago, cause: software
2025-04-24 10:53:28 [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 10:53:28 [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 10:53:28 [debug] Moves scheduled 9843, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6198, max=17441
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:53:28 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20207, writes 0 timeouts 0
2025-04-24 10:53:28 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36374/37174
2025-04-24 10:53:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:28 [info] currentZPosition:0.0833
2025-04-24 10:53:29 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:30 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:30 [debug] Diagnostics for board 50:
2025-04-24 10:53:30 [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 10:53:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:35 ago, cause: software
2025-04-24 10:53:30 [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 10:53:30 [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 10:53:30 [debug] Moves scheduled 9849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 93, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294929652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:30 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 21040, writes 0 timeouts 0
2025-04-24 10:53:30 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36100/37174
2025-04-24 10:53:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:30 [info] currentZPosition:0.0836
2025-04-24 10:53:30 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:32 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:32 [debug] Diagnostics for board 50:
2025-04-24 10:53:32 [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 10:53:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:37 ago, cause: software
2025-04-24 10:53:32 [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 10:53:32 [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 10:53:32 [debug] Moves scheduled 9855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:32 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20439, writes 0 timeouts 0
2025-04-24 10:53:32 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37172
2025-04-24 10:53:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:32 [info] currentZPosition:0.0837
2025-04-24 10:53:33 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:33 [debug] Diagnostics for board 50:
2025-04-24 10:53:33 [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 10:53:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:38 ago, cause: software
2025-04-24 10:53:33 [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 10:53:33 [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 10:53:33 [debug] Moves scheduled 9859, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6637, max=17045
Sync err accum 101, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:53:33 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17448, writes 0 timeouts 0
2025-04-24 10:53:33 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 10:53:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:33 [info] currentZPosition:0.0829
2025-04-24 10:53:34 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:34 [debug] Diagnostics for board 50:
2025-04-24 10:53:34 [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 10:53:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:39 ago, cause: software
2025-04-24 10:53:34 [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 10:53:34 [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 10:53:34 [debug] Moves scheduled 9863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294929591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:53:34 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16803, writes 0 timeouts 0
2025-04-24 10:53:34 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37175
2025-04-24 10:53:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:35 [info] currentZPosition:0.0824
2025-04-24 10:53:36 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:36 [debug] Diagnostics for board 50:
2025-04-24 10:53:36 [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 10:53:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:41 ago, cause: software
2025-04-24 10:53:36 [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 10:53:36 [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 10:53:36 [debug] Moves scheduled 9867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 97, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:36 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16892, writes 0 timeouts 0
2025-04-24 10:53:36 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37177
2025-04-24 10:53:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:36 [info] currentZPosition:0.0833
2025-04-24 10:53:37 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:37 [debug] Diagnostics for board 50:
2025-04-24 10:53:37 [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 10:53:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:42 ago, cause: software
2025-04-24 10:53:37 [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 10:53:37 [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 10:53:37 [debug] Moves scheduled 9871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 93, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:37 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16409, writes 0 timeouts 0
2025-04-24 10:53:37 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37178
2025-04-24 10:53:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:37 [info] currentZPosition:0.0839
2025-04-24 10:53:39 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:39 [debug] Diagnostics for board 50:
2025-04-24 10:53:39 [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 10:53:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:55:43 ago, cause: software
2025-04-24 10:53:39 [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 10:53:39 [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 10:53:39 [debug] Moves scheduled 9875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 82, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:53:39 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17883, writes 0 timeouts 0
2025-04-24 10:53:39 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 10:53:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:39 [info] currentZPosition:0.0817
2025-04-24 10:53:39 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:40 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:40 [debug] Diagnostics for board 50:
2025-04-24 10:53:40 [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 10:53:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:45 ago, cause: software
2025-04-24 10:53:40 [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 10:53:40 [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 10:53:40 [debug] Moves scheduled 9881, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 68, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:40 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 19879, writes 0 timeouts 0
2025-04-24 10:53:40 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36395/37177
2025-04-24 10:53:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:40 [info] currentZPosition:0.0836
2025-04-24 10:53:40 [debug] Stopped at height 0.086 mm
2025-04-24 10:53:41 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:42 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:42 [debug] Diagnostics for board 50:
2025-04-24 10:53:42 [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 10:53:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:47 ago, cause: software
2025-04-24 10:53:42 [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 10:53:42 [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 10:53:42 [debug] Moves scheduled 9889, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=18292
Sync err accum 71, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:42 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 25124, writes 0 timeouts 0
2025-04-24 10:53:42 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36103/37179
2025-04-24 10:53:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:42 [info] currentZPosition:0.0835
2025-04-24 10:53:43 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:43 [debug] Diagnostics for board 50:
2025-04-24 10:53:43 [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 10:53:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:48 ago, cause: software
2025-04-24 10:53:43 [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 10:53:43 [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 10:53:43 [debug] Moves scheduled 9893, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:53:43 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16678, writes 0 timeouts 0
2025-04-24 10:53:43 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36285/37171
2025-04-24 10:53:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:44 [info] currentZPosition:0.0832
2025-04-24 10:53:45 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:45 [debug] Diagnostics for board 50:
2025-04-24 10:53:45 [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 10:53:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:50 ago, cause: software
2025-04-24 10:53:45 [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 10:53:45 [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 10:53:45 [debug] Moves scheduled 9897, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 96, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:45 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17293, writes 0 timeouts 0
2025-04-24 10:53:45 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37173
2025-04-24 10:53:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:45 [info] currentZPosition:0.0829
2025-04-24 10:53:46 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:46 [debug] Diagnostics for board 50:
2025-04-24 10:53:46 [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 10:53:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:51 ago, cause: software
2025-04-24 10:53:46 [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 10:53:46 [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 10:53:46 [debug] Moves scheduled 9901, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 104, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:46 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16743, writes 0 timeouts 0
2025-04-24 10:53:46 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36162/37174
2025-04-24 10:53:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:46 [info] currentZPosition:0.0823
2025-04-24 10:53:48 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:48 [debug] Diagnostics for board 50:
2025-04-24 10:53:48 [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 10:53:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:52 ago, cause: software
2025-04-24 10:53:48 [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 10:53:48 [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 10:53:48 [debug] Moves scheduled 9905, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 113, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:48 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16908, writes 0 timeouts 0
2025-04-24 10:53:48 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37174
2025-04-24 10:53:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:48 [info] currentZPosition:0.0834
2025-04-24 10:53:49 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:49 [debug] Diagnostics for board 50:
2025-04-24 10:53:49 [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 10:53:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:54 ago, cause: software
2025-04-24 10:53:49 [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 10:53:49 [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 10:53:49 [debug] Moves scheduled 9909, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 117, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:49 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16486, writes 0 timeouts 0
2025-04-24 10:53:49 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36166/37174
2025-04-24 10:53:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:49 [info] currentZPosition:0.0837
2025-04-24 10:53:50 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:50 [debug] Diagnostics for board 50:
2025-04-24 10:53:50 [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 10:53:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:55 ago, cause: software
2025-04-24 10:53:50 [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 10:53:50 [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 10:53:50 [debug] Moves scheduled 9913, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 119, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:50 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17079, writes 0 timeouts 0
2025-04-24 10:53:50 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37174
2025-04-24 10:53:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:50 [info] currentZPosition:0.0840
2025-04-24 10:53:52 [debug] Stopped at height 0.083 mm
2025-04-24 10:53:52 [debug] Diagnostics for board 50:
2025-04-24 10:53:52 [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 10:53:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:56 ago, cause: software
2025-04-24 10:53:52 [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 10:53:52 [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 10:53:52 [debug] Moves scheduled 9917, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7009, max=17045
Sync err accum 118, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:53:52 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16977, writes 0 timeouts 0
2025-04-24 10:53:52 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36146/37169
2025-04-24 10:53:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:52 [info] currentZPosition:0.0828
2025-04-24 10:53:53 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:53 [debug] Diagnostics for board 50:
2025-04-24 10:53:53 [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 10:53:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:58 ago, cause: software
2025-04-24 10:53:53 [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 10:53:53 [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 10:53:53 [debug] Moves scheduled 9921, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 116, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:53 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16780, writes 0 timeouts 0
2025-04-24 10:53:53 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 10:53:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:53 [info] currentZPosition:0.0841
2025-04-24 10:53:53 [debug] Stopped at height 0.085 mm
2025-04-24 10:53:55 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:55 [debug] Diagnostics for board 50:
2025-04-24 10:53:55 [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 10:53:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:55:59 ago, cause: software
2025-04-24 10:53:55 [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 10:53:55 [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 10:53:55 [debug] Moves scheduled 9927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 106, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294928736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:53:55 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20509, writes 0 timeouts 0
2025-04-24 10:53:55 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36167/37175
2025-04-24 10:53:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:55 [info] currentZPosition:0.0838
2025-04-24 10:53:56 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:56 [debug] Diagnostics for board 50:
2025-04-24 10:53:56 [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 10:53:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:01 ago, cause: software
2025-04-24 10:53:56 [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 10:53:56 [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 10:53:56 [debug] Moves scheduled 9931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 96, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:53:56 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17129, writes 0 timeouts 0
2025-04-24 10:53:56 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37173
2025-04-24 10:53:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:56 [info] currentZPosition:0.0839
2025-04-24 10:53:57 [debug] Stopped at height 0.082 mm
2025-04-24 10:53:57 [debug] Diagnostics for board 50:
2025-04-24 10:53:57 [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 10:53:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:02 ago, cause: software
2025-04-24 10:53:57 [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 10:53:57 [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 10:53:57 [debug] Moves scheduled 9935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=909, max=17857
Sync err accum 85, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:53:57 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17050, writes 11 timeouts 1
2025-04-24 10:53:57 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37177
2025-04-24 10:53:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:57 [info] currentZPosition:0.0823
2025-04-24 10:53:58 [debug] Stopped at height 0.081 mm
2025-04-24 10:53:59 [debug] Stopped at height 0.084 mm
2025-04-24 10:53:59 [debug] Diagnostics for board 50:
2025-04-24 10:53:59 [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 10:53:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:04 ago, cause: software
2025-04-24 10:53:59 [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 10:53:59 [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 10:53:59 [debug] Moves scheduled 9941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:53:59 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20614, writes 0 timeouts 0
2025-04-24 10:53:59 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36098/37178
2025-04-24 10:53:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:53:59 [info] currentZPosition:0.0842
2025-04-24 10:53:59 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:01 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:01 [debug] Diagnostics for board 50:
2025-04-24 10:54:01 [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 10:54:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:05 ago, cause: software
2025-04-24 10:54:01 [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 10:54:01 [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 10:54:01 [debug] Moves scheduled 9947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17857
Sync err accum 61, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:54:01 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20643, writes 0 timeouts 0
2025-04-24 10:54:01 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37180
2025-04-24 10:54:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:01 [info] currentZPosition:0.0839
2025-04-24 10:54:02 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:02 [debug] Diagnostics for board 50:
2025-04-24 10:54:02 [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 10:54:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:07 ago, cause: software
2025-04-24 10:54:02 [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 10:54:02 [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 10:54:02 [debug] Moves scheduled 9951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 78, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294935750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7
2025-04-24 10:54:02 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17139, writes 0 timeouts 0
2025-04-24 10:54:02 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36091/37169
2025-04-24 10:54:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:02 [info] currentZPosition:0.0840
2025-04-24 10:54:03 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:03 [debug] Diagnostics for board 50:
2025-04-24 10:54:03 [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 10:54:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:08 ago, cause: software
2025-04-24 10:54:03 [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 10:54:03 [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 10:54:03 [debug] Moves scheduled 9955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 97, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:54:03 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17064, writes 0 timeouts 0
2025-04-24 10:54:03 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37170
2025-04-24 10:54:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:03 [info] currentZPosition:0.0826
2025-04-24 10:54:04 [debug] Stopped at height 0.082 mm
2025-04-24 10:54:05 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:05 [debug] Diagnostics for board 50:
2025-04-24 10:54:05 [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 10:54:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:10 ago, cause: software
2025-04-24 10:54:05 [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 10:54:05 [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 10:54:05 [debug] Moves scheduled 9961, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6465, max=17045
Sync err accum 118, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:05 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20877, writes 0 timeouts 0
2025-04-24 10:54:05 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37174
2025-04-24 10:54:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:05 [info] currentZPosition:0.0835
2025-04-24 10:54:06 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:06 [debug] Diagnostics for board 50:
2025-04-24 10:54:06 [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 10:54:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:11 ago, cause: software
2025-04-24 10:54:06 [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 10:54:06 [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 10:54:06 [debug] Moves scheduled 9965, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6355, max=18292
Sync err accum 129, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:06 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16659, writes 0 timeouts 0
2025-04-24 10:54:06 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37173
2025-04-24 10:54:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:06 [info] currentZPosition:0.0832
2025-04-24 10:54:08 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:08 [debug] Diagnostics for board 50:
2025-04-24 10:54:08 [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 10:54:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:13 ago, cause: software
2025-04-24 10:54:08 [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 10:54:08 [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 10:54:08 [debug] Moves scheduled 9969, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 118, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:08 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17006, writes 0 timeouts 0
2025-04-24 10:54:08 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36112/37176
2025-04-24 10:54:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:08 [info] currentZPosition:0.0838
2025-04-24 10:54:09 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:09 [debug] Diagnostics for board 50:
2025-04-24 10:54:09 [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 10:54:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:14 ago, cause: software
2025-04-24 10:54:09 [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 10:54:09 [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 10:54:09 [debug] Moves scheduled 9973, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=7009, max=17857
Sync err accum 100, peak jitter -4/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:54:09 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16321, writes 0 timeouts 0
2025-04-24 10:54:09 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37176
2025-04-24 10:54:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:09 [info] currentZPosition:0.0845
2025-04-24 10:54:10 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:10 [debug] Diagnostics for board 50:
2025-04-24 10:54:10 [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 10:54:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:15 ago, cause: software
2025-04-24 10:54:10 [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 10:54:10 [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 10:54:10 [debug] Moves scheduled 9977, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6147, max=17045
Sync err accum 88, peak jitter -2/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:10 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17436, writes 0 timeouts 0
2025-04-24 10:54:10 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37179
2025-04-24 10:54:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:10 [info] currentZPosition:0.0835
2025-04-24 10:54:12 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:12 [debug] Diagnostics for board 50:
2025-04-24 10:54:12 [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 10:54:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:17 ago, cause: software
2025-04-24 10:54:12 [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 10:54:12 [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 10:54:12 [debug] Moves scheduled 9981, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 74, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294935825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 10:54:12 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16445, writes 0 timeouts 0
2025-04-24 10:54:12 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36169/37177
2025-04-24 10:54:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:12 [info] currentZPosition:0.0841
2025-04-24 10:54:13 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:13 [debug] Diagnostics for board 50:
2025-04-24 10:54:13 [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 10:54:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:18 ago, cause: software
2025-04-24 10:54:13 [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 10:54:13 [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 10:54:13 [debug] Moves scheduled 9985, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -4/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:13 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17214, writes 0 timeouts 0
2025-04-24 10:54:13 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36095/37179
2025-04-24 10:54:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:13 [info] currentZPosition:0.0838
2025-04-24 10:54:14 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:14 [debug] Diagnostics for board 50:
2025-04-24 10:54:14 [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 10:54:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:19 ago, cause: software
2025-04-24 10:54:14 [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 10:54:14 [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 10:54:14 [debug] Moves scheduled 9989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:54:14 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16561, writes 0 timeouts 0
2025-04-24 10:54:14 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37173
2025-04-24 10:54:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:15 [info] currentZPosition:0.0839
2025-04-24 10:54:16 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:16 [debug] Diagnostics for board 50:
2025-04-24 10:54:16 [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 10:54:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:21 ago, cause: software
2025-04-24 10:54:16 [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 10:54:16 [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 10:54:16 [debug] Moves scheduled 9993, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:54:16 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17136, writes 0 timeouts 0
2025-04-24 10:54:16 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36095/37174
2025-04-24 10:54:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8761, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:16 [info] currentZPosition:0.0840
2025-04-24 10:54:17 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:17 [debug] Diagnostics for board 50:
2025-04-24 10:54:17 [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 10:54:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:22 ago, cause: software
2025-04-24 10:54:17 [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 10:54:17 [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 10:54:17 [debug] Moves scheduled 9997, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 80, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:54:17 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16377, writes 0 timeouts 0
2025-04-24 10:54:17 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37175
2025-04-24 10:54:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:17 [info] currentZPosition:0.0847
2025-04-24 10:54:19 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:19 [debug] Diagnostics for board 50:
2025-04-24 10:54:19 [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 10:54:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:23 ago, cause: software
2025-04-24 10:54:19 [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 10:54:19 [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 10:54:19 [debug] Moves scheduled 10001, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:19 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17654, writes 0 timeouts 0
2025-04-24 10:54:19 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37174
2025-04-24 10:54:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:19 [info] currentZPosition:0.0832
2025-04-24 10:54:19 [debug] Stopped at height 0.082 mm
2025-04-24 10:54:20 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:20 [debug] Diagnostics for board 50:
2025-04-24 10:54:20 [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 10:54:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:25 ago, cause: software
2025-04-24 10:54:20 [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 10:54:20 [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 10:54:20 [debug] Moves scheduled 10007, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 86, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:54:20 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20423, writes 0 timeouts 0
2025-04-24 10:54:20 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36166/37171
2025-04-24 10:54:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:20 [info] currentZPosition:0.0843
2025-04-24 10:54:21 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:22 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:22 [debug] Diagnostics for board 50:
2025-04-24 10:54:22 [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 10:54:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:27 ago, cause: software
2025-04-24 10:54:22 [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 10:54:22 [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 10:54:22 [debug] Moves scheduled 10013, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:22 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 21134, writes 0 timeouts 0
2025-04-24 10:54:22 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37176
2025-04-24 10:54:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:22 [info] currentZPosition:0.0845
2025-04-24 10:54:23 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:23 [debug] Diagnostics for board 50:
2025-04-24 10:54:23 [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 10:54:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:28 ago, cause: software
2025-04-24 10:54:23 [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 10:54:23 [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 10:54:23 [debug] Moves scheduled 10017, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=110, frequency (Hz): min=6818, max=17045
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:23 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16647, writes 0 timeouts 0
2025-04-24 10:54:23 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37170
2025-04-24 10:54:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:23 [info] currentZPosition:0.0843
2025-04-24 10:54:25 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:25 [debug] Diagnostics for board 50:
2025-04-24 10:54:25 [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 10:54:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:29 ago, cause: software
2025-04-24 10:54:25 [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 10:54:25 [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 10:54:25 [debug] Moves scheduled 10021, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6355, max=18292
Sync err accum 69, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294928853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:25 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17798, writes 0 timeouts 0
2025-04-24 10:54:25 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37170
2025-04-24 10:54:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:25 [info] currentZPosition:0.0825
2025-04-24 10:54:25 [debug] Stopped at height 0.082 mm
2025-04-24 10:54:26 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:26 [debug] Diagnostics for board 50:
2025-04-24 10:54:26 [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 10:54:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:31 ago, cause: software
2025-04-24 10:54:26 [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 10:54:26 [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 10:54:26 [debug] Moves scheduled 10027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=863, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:54:26 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20190, writes 11 timeouts 1
2025-04-24 10:54:26 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37176
2025-04-24 10:54:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:26 [info] currentZPosition:0.0838
2025-04-24 10:54:27 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 10:54:27 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:28 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:28 [debug] Diagnostics for board 50:
2025-04-24 10:54:28 [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 10:54:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:33 ago, cause: software
2025-04-24 10:54:28 [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 10:54:28 [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 10:54:28 [debug] Moves scheduled 10034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:28 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 24284, writes 0 timeouts 0
2025-04-24 10:54:28 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36091/37175
2025-04-24 10:54:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8761, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:28 [info] currentZPosition:0.0846
2025-04-24 10:54:29 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:30 [debug] Stopped at height 0.086 mm
2025-04-24 10:54:30 [debug] Diagnostics for board 50:
2025-04-24 10:54:30 [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 10:54:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:35 ago, cause: software
2025-04-24 10:54:30 [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 10:54:30 [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 10:54:30 [debug] Moves scheduled 10040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 94, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:54:30 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20117, writes 0 timeouts 0
2025-04-24 10:54:30 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36161/37175
2025-04-24 10:54:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:30 [info] currentZPosition:0.0857
2025-04-24 10:54:30 [debug] Stopped at height 0.088 mm
2025-04-24 10:54:31 [debug] Stopped at height 0.086 mm
2025-04-24 10:54:31 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:32 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:32 [debug] Diagnostics for board 50:
2025-04-24 10:54:32 [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 10:54:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:37 ago, cause: software
2025-04-24 10:54:32 [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 10:54:32 [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 10:54:32 [debug] Moves scheduled 10050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 105, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:32 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 29874, writes 0 timeouts 0
2025-04-24 10:54:32 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 289, adv 36107/37175
2025-04-24 10:54:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:32 [info] currentZPosition:0.0840
2025-04-24 10:54:33 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:33 [debug] Diagnostics for board 50:
2025-04-24 10:54:33 [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 10:54:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:38 ago, cause: software
2025-04-24 10:54:33 [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 10:54:33 [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 10:54:33 [debug] Moves scheduled 10054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 105, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:33 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16295, writes 0 timeouts 0
2025-04-24 10:54:33 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37174
2025-04-24 10:54:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:34 [info] currentZPosition:0.0850
2025-04-24 10:54:35 [debug] Stopped at height 0.086 mm
2025-04-24 10:54:35 [debug] Diagnostics for board 50:
2025-04-24 10:54:35 [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 10:54:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:40 ago, cause: software
2025-04-24 10:54:35 [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 10:54:35 [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 10:54:35 [debug] Moves scheduled 10058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17441
Sync err accum 108, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:35 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16916, writes 0 timeouts 0
2025-04-24 10:54:35 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37176
2025-04-24 10:54:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:35 [info] currentZPosition:0.0858
2025-04-24 10:54:36 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:36 [debug] Diagnostics for board 50:
2025-04-24 10:54:36 [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 10:54:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:41 ago, cause: software
2025-04-24 10:54:36 [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 10:54:36 [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 10:54:36 [debug] Moves scheduled 10062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 107, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:54:36 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16875, writes 0 timeouts 0
2025-04-24 10:54:36 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37173
2025-04-24 10:54:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:36 [info] currentZPosition:0.0849
2025-04-24 10:54:38 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:38 [debug] Diagnostics for board 50:
2025-04-24 10:54:38 [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 10:54:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:42 ago, cause: software
2025-04-24 10:54:38 [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 10:54:38 [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 10:54:38 [debug] Moves scheduled 10066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6465, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:54:38 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17166, writes 0 timeouts 0
2025-04-24 10:54:38 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37177
2025-04-24 10:54:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:38 [info] currentZPosition:0.0848
2025-04-24 10:54:39 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:39 [debug] Diagnostics for board 50:
2025-04-24 10:54:39 [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 10:54:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:44 ago, cause: software
2025-04-24 10:54:39 [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 10:54:39 [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 10:54:39 [debug] Moves scheduled 10070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 98, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:39 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16561, writes 0 timeouts 0
2025-04-24 10:54:39 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36283/37177
2025-04-24 10:54:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:39 [info] currentZPosition:0.0852
2025-04-24 10:54:40 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:40 [debug] Diagnostics for board 50:
2025-04-24 10:54:40 [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 10:54:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:45 ago, cause: software
2025-04-24 10:54:40 [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 10:54:40 [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 10:54:40 [debug] Moves scheduled 10074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 89, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:40 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17585, writes 0 timeouts 0
2025-04-24 10:54:40 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36113/37177
2025-04-24 10:54:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:40 [info] currentZPosition:0.0838
2025-04-24 10:54:41 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:42 [debug] Stopped at height 0.086 mm
2025-04-24 10:54:42 [debug] Diagnostics for board 50:
2025-04-24 10:54:42 [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 10:54:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:47 ago, cause: software
2025-04-24 10:54:42 [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 10:54:42 [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 10:54:42 [debug] Moves scheduled 10080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:42 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20076, writes 0 timeouts 0
2025-04-24 10:54:42 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36403/37175
2025-04-24 10:54:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:42 [info] currentZPosition:0.0857
2025-04-24 10:54:42 [debug] Stopped at height 0.087 mm
2025-04-24 10:54:44 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:44 [debug] Diagnostics for board 50:
2025-04-24 10:54:44 [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 10:54:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:48 ago, cause: software
2025-04-24 10:54:44 [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 10:54:44 [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 10:54:44 [debug] Moves scheduled 10086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17045
Sync err accum 63, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:44 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21114, writes 0 timeouts 0
2025-04-24 10:54:44 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37177
2025-04-24 10:54:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:44 [info] currentZPosition:0.0849
2025-04-24 10:54:44 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:44 [debug] Stopped at height 0.082 mm
2025-04-24 10:54:46 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:46 [debug] Diagnostics for board 50:
2025-04-24 10:54:46 [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 10:54:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:50 ago, cause: software
2025-04-24 10:54:46 [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 10:54:46 [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 10:54:46 [debug] Moves scheduled 10094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
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 4294932844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:54:46 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 24877, writes 0 timeouts 0
2025-04-24 10:54:46 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 36400/37176
2025-04-24 10:54:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:46 [info] currentZPosition:0.0846
2025-04-24 10:54:46 [debug] Stopped at height 0.087 mm
2025-04-24 10:54:46 [debug] Stopped at height 0.083 mm
2025-04-24 10:54:48 [debug] Stopped at height 0.086 mm
2025-04-24 10:54:48 [debug] Diagnostics for board 50:
2025-04-24 10:54:48 [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 10:54:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:52 ago, cause: software
2025-04-24 10:54:48 [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 10:54:48 [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 10:54:48 [debug] Moves scheduled 10102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7009, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:48 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 24705, writes 0 timeouts 0
2025-04-24 10:54:48 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 286, adv 36109/37176
2025-04-24 10:54:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:48 [info] currentZPosition:0.0862
2025-04-24 10:54:48 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:49 [debug] Stopped at height 0.086 mm
2025-04-24 10:54:49 [debug] Diagnostics for board 50:
2025-04-24 10:54:49 [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 10:54:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:54 ago, cause: software
2025-04-24 10:54:49 [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 10:54:49 [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 10:54:49 [debug] Moves scheduled 10108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:49 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20774, writes 0 timeouts 0
2025-04-24 10:54:49 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37177
2025-04-24 10:54:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:49 [info] currentZPosition:0.0860
2025-04-24 10:54:51 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:51 [debug] Diagnostics for board 50:
2025-04-24 10:54:51 [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 10:54:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:55 ago, cause: software
2025-04-24 10:54:51 [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 10:54:51 [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 10:54:51 [debug] Moves scheduled 10112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6302, max=17857
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:51 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17718, writes 0 timeouts 0
2025-04-24 10:54:51 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37173
2025-04-24 10:54:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:51 [info] currentZPosition:0.0843
2025-04-24 10:54:51 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:52 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:52 [debug] Diagnostics for board 50:
2025-04-24 10:54:52 [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 10:54:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:56:57 ago, cause: software
2025-04-24 10:54:52 [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 10:54:52 [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 10:54:52 [debug] Moves scheduled 10118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 68, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:54:52 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20402, writes 0 timeouts 0
2025-04-24 10:54:52 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36394/37176
2025-04-24 10:54:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:52 [info] currentZPosition:0.0848
2025-04-24 10:54:54 [debug] Stopped at height 0.084 mm
2025-04-24 10:54:54 [debug] Diagnostics for board 50:
2025-04-24 10:54:54 [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 10:54:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:56:58 ago, cause: software
2025-04-24 10:54:54 [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 10:54:54 [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 10:54:54 [debug] Moves scheduled 10122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:54 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17277, writes 0 timeouts 0
2025-04-24 10:54:54 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37172
2025-04-24 10:54:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:54 [info] currentZPosition:0.0845
2025-04-24 10:54:55 [debug] Stopped at height 0.087 mm
2025-04-24 10:54:55 [debug] Diagnostics for board 50:
2025-04-24 10:54:55 [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 10:54:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:00 ago, cause: software
2025-04-24 10:54:55 [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 10:54:55 [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 10:54:55 [debug] Moves scheduled 10126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:55 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 15932, writes 0 timeouts 0
2025-04-24 10:54:55 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36381/37175
2025-04-24 10:54:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:55 [info] currentZPosition:0.0866
2025-04-24 10:54:55 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:57 [debug] Stopped at height 0.087 mm
2025-04-24 10:54:57 [debug] Diagnostics for board 50:
2025-04-24 10:54:57 [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 10:54:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:01 ago, cause: software
2025-04-24 10:54:57 [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 10:54:57 [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 10:54:57 [debug] Moves scheduled 10132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:54:57 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 21002, writes 0 timeouts 0
2025-04-24 10:54:57 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37171
2025-04-24 10:54:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:57 [info] currentZPosition:0.0867
2025-04-24 10:54:58 [debug] Stopped at height 0.085 mm
2025-04-24 10:54:58 [debug] Diagnostics for board 50:
2025-04-24 10:54:58 [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 10:54:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:03 ago, cause: software
2025-04-24 10:54:58 [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 10:54:58 [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 10:54:58 [debug] Moves scheduled 10136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 65, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:54:58 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17254, writes 0 timeouts 0
2025-04-24 10:54:58 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37176
2025-04-24 10:54:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:54:58 [info] currentZPosition:0.0846
2025-04-24 10:54:58 [debug] Stopped at height 0.084 mm
2025-04-24 10:55:00 [debug] Stopped at height 0.085 mm
2025-04-24 10:55:00 [debug] Diagnostics for board 50:
2025-04-24 10:55:00 [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 10:55:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:04 ago, cause: software
2025-04-24 10:55:00 [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 10:55:00 [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 10:55:00 [debug] Moves scheduled 10142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=5725, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:00 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20914, writes 0 timeouts 0
2025-04-24 10:55:00 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37178
2025-04-24 10:55:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:00 [info] currentZPosition:0.0855
2025-04-24 10:55:00 [debug] Stopped at height 0.084 mm
2025-04-24 10:55:01 [debug] Stopped at height 0.085 mm
2025-04-24 10:55:01 [debug] Diagnostics for board 50:
2025-04-24 10:55:01 [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 10:55:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:06 ago, cause: software
2025-04-24 10:55:01 [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 10:55:01 [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 10:55:01 [debug] Moves scheduled 10148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6944, max=17857
Sync err accum 67, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:55:01 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20612, writes 0 timeouts 0
2025-04-24 10:55:01 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 294, adv 36401/37175
2025-04-24 10:55:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:01 [info] currentZPosition:0.0850
2025-04-24 10:55:03 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:03 [debug] Diagnostics for board 50:
2025-04-24 10:55:03 [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 10:55:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:07 ago, cause: software
2025-04-24 10:55:03 [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 10:55:03 [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 10:55:03 [debug] Moves scheduled 10152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:03 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16626, writes 0 timeouts 0
2025-04-24 10:55:03 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37177
2025-04-24 10:55:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:03 [info] currentZPosition:0.0869
2025-04-24 10:55:03 [debug] Stopped at height 0.084 mm
2025-04-24 10:55:04 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:04 [debug] Diagnostics for board 50:
2025-04-24 10:55:04 [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 10:55:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:09 ago, cause: software
2025-04-24 10:55:04 [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 10:55:04 [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 10:55:04 [debug] Moves scheduled 10158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:04 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20516, writes 0 timeouts 0
2025-04-24 10:55:04 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37176
2025-04-24 10:55:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:04 [info] currentZPosition:0.0869
2025-04-24 10:55:05 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:06 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:06 [debug] Diagnostics for board 50:
2025-04-24 10:55:06 [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 10:55:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:11 ago, cause: software
2025-04-24 10:55:06 [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 10:55:06 [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 10:55:06 [debug] Moves scheduled 10164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:06 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21385, writes 0 timeouts 0
2025-04-24 10:55:06 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 10:55:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:06 [info] currentZPosition:0.0861
2025-04-24 10:55:07 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:07 [debug] Diagnostics for board 50:
2025-04-24 10:55:07 [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 10:55:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:12 ago, cause: software
2025-04-24 10:55:07 [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 10:55:07 [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 10:55:07 [debug] Moves scheduled 10168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:55:07 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16706, writes 0 timeouts 0
2025-04-24 10:55:07 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36394/37173
2025-04-24 10:55:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:07 [info] currentZPosition:0.0859
2025-04-24 10:55:09 [debug] Stopped at height 0.084 mm
2025-04-24 10:55:09 [debug] Diagnostics for board 50:
2025-04-24 10:55:09 [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 10:55:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:14 ago, cause: software
2025-04-24 10:55:09 [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 10:55:09 [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 10:55:09 [debug] Moves scheduled 10172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17441
Sync err accum 82, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:09 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17728, writes 0 timeouts 0
2025-04-24 10:55:09 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36095/37175
2025-04-24 10:55:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:09 [info] currentZPosition:0.0841
2025-04-24 10:55:09 [debug] Stopped at height 0.083 mm
2025-04-24 10:55:10 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:10 [debug] Diagnostics for board 50:
2025-04-24 10:55:10 [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 10:55:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:15 ago, cause: software
2025-04-24 10:55:10 [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 10:55:10 [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 10:55:10 [debug] Moves scheduled 10178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17857
Sync err accum 91, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:10 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 19922, writes 0 timeouts 0
2025-04-24 10:55:10 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36380/37176
2025-04-24 10:55:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:10 [info] currentZPosition:0.0863
2025-04-24 10:55:11 [debug] Stopped at height 0.085 mm
2025-04-24 10:55:12 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:12 [debug] Diagnostics for board 50:
2025-04-24 10:55:12 [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 10:55:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:17 ago, cause: software
2025-04-24 10:55:12 [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 10:55:12 [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 10:55:12 [debug] Moves scheduled 10184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=113, frequency (Hz): min=6355, max=17045
Sync err accum 99, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:12 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20930, writes 0 timeouts 0
2025-04-24 10:55:12 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 10:55:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:12 [info] currentZPosition:0.0872
2025-04-24 10:55:12 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:14 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:14 [debug] Diagnostics for board 50:
2025-04-24 10:55:14 [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 10:55:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:19 ago, cause: software
2025-04-24 10:55:14 [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 10:55:14 [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 10:55:14 [debug] Moves scheduled 10190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:14 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20837, writes 0 timeouts 0
2025-04-24 10:55:14 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36395/37176
2025-04-24 10:55:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:14 [info] currentZPosition:0.0861
2025-04-24 10:55:15 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:15 [debug] Diagnostics for board 50:
2025-04-24 10:55:15 [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 10:55:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:57:20 ago, cause: software
2025-04-24 10:55:15 [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 10:55:15 [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 10:55:15 [debug] Moves scheduled 10194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6302, max=17441
Sync err accum 106, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:15 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16874, writes 0 timeouts 0
2025-04-24 10:55:15 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36110/37175
2025-04-24 10:55:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:15 [info] currentZPosition:0.0871
2025-04-24 10:55:16 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:16 [debug] Diagnostics for board 50:
2025-04-24 10:55:16 [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 10:55:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:21 ago, cause: software
2025-04-24 10:55:16 [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 10:55:16 [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 10:55:16 [debug] Moves scheduled 10198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 106, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:55:16 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16607, writes 0 timeouts 0
2025-04-24 10:55:16 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37178
2025-04-24 10:55:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:16 [info] currentZPosition:0.0873
2025-04-24 10:55:18 [debug] Stopped at height 0.084 mm
2025-04-24 10:55:18 [debug] Diagnostics for board 50:
2025-04-24 10:55:18 [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 10:55:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:23 ago, cause: software
2025-04-24 10:55:18 [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 10:55:18 [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 10:55:18 [debug] Moves scheduled 10202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:18 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 18062, writes 0 timeouts 0
2025-04-24 10:55:18 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 296, adv 36110/37176
2025-04-24 10:55:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:18 [info] currentZPosition:0.0844
2025-04-24 10:55:18 [debug] Stopped at height 0.083 mm
2025-04-24 10:55:19 [debug] Stopped at height 0.088 mm
2025-04-24 10:55:19 [debug] Diagnostics for board 50:
2025-04-24 10:55:19 [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 10:55:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:24 ago, cause: software
2025-04-24 10:55:19 [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 10:55:19 [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 10:55:19 [debug] Moves scheduled 10208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:19 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 19650, writes 0 timeouts 0
2025-04-24 10:55:19 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36399/37177
2025-04-24 10:55:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:19 [info] currentZPosition:0.0879
2025-04-24 10:55:20 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:21 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:21 [debug] Diagnostics for board 50:
2025-04-24 10:55:21 [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 10:55:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:26 ago, cause: software
2025-04-24 10:55:21 [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 10:55:21 [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 10:55:21 [debug] Moves scheduled 10214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17441
Sync err accum 89, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:21 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21656, writes 0 timeouts 0
2025-04-24 10:55:21 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 10:55:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:21 [info] currentZPosition:0.0866
2025-04-24 10:55:22 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:22 [debug] Diagnostics for board 50:
2025-04-24 10:55:22 [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 10:55:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:27 ago, cause: software
2025-04-24 10:55:22 [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 10:55:22 [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 10:55:22 [debug] Moves scheduled 10218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 78, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:55:22 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16777, writes 0 timeouts 0
2025-04-24 10:55:22 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37177
2025-04-24 10:55:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:23 [info] currentZPosition:0.0860
2025-04-24 10:55:24 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:24 [debug] Diagnostics for board 50:
2025-04-24 10:55:24 [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 10:55:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:29 ago, cause: software
2025-04-24 10:55:24 [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 10:55:24 [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 10:55:24 [debug] Moves scheduled 10222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:24 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16660, writes 0 timeouts 0
2025-04-24 10:55:24 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37177
2025-04-24 10:55:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:24 [info] currentZPosition:0.0875
2025-04-24 10:55:24 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:25 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:25 [debug] Diagnostics for board 50:
2025-04-24 10:55:25 [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 10:55:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:30 ago, cause: software
2025-04-24 10:55:25 [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 10:55:25 [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 10:55:25 [debug] Moves scheduled 10228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:25 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20542, writes 0 timeouts 0
2025-04-24 10:55:25 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37178
2025-04-24 10:55:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:26 [info] currentZPosition:0.0872
2025-04-24 10:55:26 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:27 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:27 [debug] Diagnostics for board 50:
2025-04-24 10:55:27 [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 10:55:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:32 ago, cause: software
2025-04-24 10:55:27 [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 10:55:27 [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 10:55:27 [debug] Moves scheduled 10234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:27 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21355, writes 0 timeouts 0
2025-04-24 10:55:27 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37175
2025-04-24 10:55:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:27 [info] currentZPosition:0.0863
2025-04-24 10:55:28 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:28 [debug] Diagnostics for board 50:
2025-04-24 10:55:28 [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 10:55:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:33 ago, cause: software
2025-04-24 10:55:28 [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 10:55:28 [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 10:55:28 [debug] Moves scheduled 10238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 83, peak jitter 1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:28 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16323, writes 0 timeouts 0
2025-04-24 10:55:28 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37175
2025-04-24 10:55:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:29 [info] currentZPosition:0.0872
2025-04-24 10:55:30 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:30 [debug] Diagnostics for board 50:
2025-04-24 10:55:30 [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 10:55:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:35 ago, cause: software
2025-04-24 10:55:30 [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 10:55:30 [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 10:55:30 [debug] Moves scheduled 10242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:55:30 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17180, writes 0 timeouts 0
2025-04-24 10:55:30 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37177
2025-04-24 10:55:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:30 [info] currentZPosition:0.0872
2025-04-24 10:55:31 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:31 [debug] Diagnostics for board 50:
2025-04-24 10:55:31 [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 10:55:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:36 ago, cause: software
2025-04-24 10:55:31 [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 10:55:31 [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 10:55:31 [debug] Moves scheduled 10246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6521, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:31 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17120, writes 0 timeouts 0
2025-04-24 10:55:31 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36403/37176
2025-04-24 10:55:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:31 [info] currentZPosition:0.0858
2025-04-24 10:55:32 [debug] Stopped at height 0.085 mm
2025-04-24 10:55:33 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:33 [debug] Diagnostics for board 50:
2025-04-24 10:55:33 [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 10:55:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:38 ago, cause: software
2025-04-24 10:55:33 [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 10:55:33 [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 10:55:33 [debug] Moves scheduled 10252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=621, max=17045
Sync err accum 96, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:55:33 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20847, writes 11 timeouts 1
2025-04-24 10:55:33 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36100/37176
2025-04-24 10:55:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:33 [info] currentZPosition:0.0870
2025-04-24 10:55:33 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:35 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:35 [debug] Diagnostics for board 50:
2025-04-24 10:55:35 [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 10:55:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:39 ago, cause: software
2025-04-24 10:55:35 [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 10:55:35 [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 10:55:35 [debug] Moves scheduled 10258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 93, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:35 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20516, writes 0 timeouts 0
2025-04-24 10:55:35 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36399/37176
2025-04-24 10:55:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:35 [info] currentZPosition:0.0871
2025-04-24 10:55:36 [debug] Stopped at height 0.088 mm
2025-04-24 10:55:36 [debug] Diagnostics for board 50:
2025-04-24 10:55:36 [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 10:55:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:41 ago, cause: software
2025-04-24 10:55:36 [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 10:55:36 [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 10:55:36 [debug] Moves scheduled 10262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 91, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:36 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17014, writes 0 timeouts 0
2025-04-24 10:55:36 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37174
2025-04-24 10:55:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:36 [info] currentZPosition:0.0881
2025-04-24 10:55:37 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:37 [debug] Diagnostics for board 50:
2025-04-24 10:55:37 [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 10:55:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:42 ago, cause: software
2025-04-24 10:55:37 [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 10:55:37 [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 10:55:37 [debug] Moves scheduled 10266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:37 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16726, writes 0 timeouts 0
2025-04-24 10:55:37 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36283/37176
2025-04-24 10:55:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:37 [info] currentZPosition:0.0875
2025-04-24 10:55:39 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:39 [debug] Diagnostics for board 50:
2025-04-24 10:55:39 [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 10:55:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:43 ago, cause: software
2025-04-24 10:55:39 [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 10:55:39 [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 10:55:39 [debug] Moves scheduled 10270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:39 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17391, writes 0 timeouts 0
2025-04-24 10:55:39 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37177
2025-04-24 10:55:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:39 [info] currentZPosition:0.0866
2025-04-24 10:55:40 [debug] Stopped at height 0.089 mm
2025-04-24 10:55:40 [debug] Diagnostics for board 50:
2025-04-24 10:55:40 [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 10:55:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:45 ago, cause: software
2025-04-24 10:55:40 [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 10:55:40 [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 10:55:40 [debug] Moves scheduled 10274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:40 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 15987, writes 0 timeouts 0
2025-04-24 10:55:40 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37176
2025-04-24 10:55:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:40 [info] currentZPosition:0.0886
2025-04-24 10:55:40 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:42 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:42 [debug] Diagnostics for board 50:
2025-04-24 10:55:42 [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 10:55:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:46 ago, cause: software
2025-04-24 10:55:42 [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 10:55:42 [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 10:55:42 [debug] Moves scheduled 10280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17441
Sync err accum 65, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:42 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 21520, writes 0 timeouts 0
2025-04-24 10:55:42 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37175
2025-04-24 10:55:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:42 [info] currentZPosition:0.0869
2025-04-24 10:55:43 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:43 [debug] Diagnostics for board 50:
2025-04-24 10:55:43 [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 10:55:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:48 ago, cause: software
2025-04-24 10:55:43 [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 10:55:43 [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 10:55:43 [debug] Moves scheduled 10284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5952, max=17045
Sync err accum 85, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:43 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16978, writes 0 timeouts 0
2025-04-24 10:55:43 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37169
2025-04-24 10:55:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8858, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:43 [info] currentZPosition:0.0856
2025-04-24 10:55:43 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:45 [debug] Stopped at height 0.088 mm
2025-04-24 10:55:45 [debug] Diagnostics for board 50:
2025-04-24 10:55:45 [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 10:55:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:49 ago, cause: software
2025-04-24 10:55:45 [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 10:55:45 [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 10:55:45 [debug] Moves scheduled 10290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 101, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:45 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20218, writes 0 timeouts 0
2025-04-24 10:55:45 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36103/37174
2025-04-24 10:55:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:45 [info] currentZPosition:0.0884
2025-04-24 10:55:45 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:46 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:46 [debug] Diagnostics for board 50:
2025-04-24 10:55:46 [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 10:55:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:51 ago, cause: software
2025-04-24 10:55:46 [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 10:55:46 [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 10:55:46 [debug] Moves scheduled 10296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 117, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294936374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 10:55:46 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20793, writes 0 timeouts 0
2025-04-24 10:55:46 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36149/37174
2025-04-24 10:55:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:46 [info] currentZPosition:0.0871
2025-04-24 10:55:48 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:48 [debug] Diagnostics for board 50:
2025-04-24 10:55:48 [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 10:55:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:52 ago, cause: software
2025-04-24 10:55:48 [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 10:55:48 [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 10:55:48 [debug] Moves scheduled 10300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 129, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294934762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:48 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17080, writes 0 timeouts 0
2025-04-24 10:55:48 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37172
2025-04-24 10:55:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:48 [info] currentZPosition:0.0873
2025-04-24 10:55:49 [debug] Stopped at height 0.088 mm
2025-04-24 10:55:49 [debug] Diagnostics for board 50:
2025-04-24 10:55:49 [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 10:55:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:54 ago, cause: software
2025-04-24 10:55:49 [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 10:55:49 [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 10:55:49 [debug] Moves scheduled 10304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 119, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:55:49 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16495, writes 0 timeouts 0
2025-04-24 10:55:49 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36168/37173
2025-04-24 10:55:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:49 [info] currentZPosition:0.0876
2025-04-24 10:55:50 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:50 [debug] Diagnostics for board 50:
2025-04-24 10:55:50 [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 10:55:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:55 ago, cause: software
2025-04-24 10:55:50 [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 10:55:50 [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 10:55:50 [debug] Moves scheduled 10308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17441
Sync err accum 107, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 10:55:50 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17366, writes 0 timeouts 0
2025-04-24 10:55:50 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37175
2025-04-24 10:55:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:50 [info] currentZPosition:0.0870
2025-04-24 10:55:52 [debug] Stopped at height 0.088 mm
2025-04-24 10:55:52 [debug] Diagnostics for board 50:
2025-04-24 10:55:52 [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 10:55:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:56 ago, cause: software
2025-04-24 10:55:52 [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 10:55:52 [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 10:55:52 [debug] Moves scheduled 10312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17857
Sync err accum 95, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:55:52 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16219, writes 0 timeouts 0
2025-04-24 10:55:52 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37177
2025-04-24 10:55:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:52 [info] currentZPosition:0.0882
2025-04-24 10:55:53 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:53 [debug] Diagnostics for board 50:
2025-04-24 10:55:53 [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 10:55:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:58 ago, cause: software
2025-04-24 10:55:53 [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 10:55:53 [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 10:55:53 [debug] Moves scheduled 10316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 80, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:53 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17762, writes 0 timeouts 0
2025-04-24 10:55:53 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37178
2025-04-24 10:55:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:53 [info] currentZPosition:0.0862
2025-04-24 10:55:53 [debug] Stopped at height 0.086 mm
2025-04-24 10:55:55 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:55 [debug] Diagnostics for board 50:
2025-04-24 10:55:55 [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 10:55:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:57:59 ago, cause: software
2025-04-24 10:55:55 [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 10:55:55 [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 10:55:55 [debug] Moves scheduled 10322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17045
Sync err accum 61, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:55:55 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20266, writes 0 timeouts 0
2025-04-24 10:55:55 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36167/37178
2025-04-24 10:55:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:55 [info] currentZPosition:0.0868
2025-04-24 10:55:56 [debug] Stopped at height 0.089 mm
2025-04-24 10:55:56 [debug] Diagnostics for board 50:
2025-04-24 10:55:56 [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 10:55:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:01 ago, cause: software
2025-04-24 10:55:56 [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 10:55:56 [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 10:55:56 [debug] Moves scheduled 10326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 71, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:55:56 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16629, writes 0 timeouts 0
2025-04-24 10:55:56 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36102/37177
2025-04-24 10:55:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:56 [info] currentZPosition:0.0889
2025-04-24 10:55:56 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:58 [debug] Stopped at height 0.088 mm
2025-04-24 10:55:58 [debug] Diagnostics for board 50:
2025-04-24 10:55:58 [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 10:55:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:02 ago, cause: software
2025-04-24 10:55:58 [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 10:55:58 [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 10:55:58 [debug] Moves scheduled 10332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6000, max=17045
Sync err accum 88, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:55:58 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20705, writes 0 timeouts 0
2025-04-24 10:55:58 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36165/37171
2025-04-24 10:55:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:58 [info] currentZPosition:0.0881
2025-04-24 10:55:58 [debug] Stopped at height 0.087 mm
2025-04-24 10:55:59 [debug] Stopped at height 0.088 mm
2025-04-24 10:55:59 [debug] Diagnostics for board 50:
2025-04-24 10:55:59 [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 10:55:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:04 ago, cause: software
2025-04-24 10:55:59 [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 10:55:59 [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 10:55:59 [debug] Moves scheduled 10338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 106, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:55:59 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21178, writes 0 timeouts 0
2025-04-24 10:55:59 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37175
2025-04-24 10:55:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:55:59 [info] currentZPosition:0.0878
2025-04-24 10:56:01 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:01 [debug] Diagnostics for board 50:
2025-04-24 10:56:01 [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 10:56:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:05 ago, cause: software
2025-04-24 10:56:01 [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 10:56:01 [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 10:56:01 [debug] Moves scheduled 10342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 120, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:01 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16467, writes 0 timeouts 0
2025-04-24 10:56:01 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37174
2025-04-24 10:56:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:01 [info] currentZPosition:0.0885
2025-04-24 10:56:02 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:02 [debug] Diagnostics for board 50:
2025-04-24 10:56:02 [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 10:56:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:07 ago, cause: software
2025-04-24 10:56:02 [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 10:56:02 [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 10:56:02 [debug] Moves scheduled 10346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 128, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:02 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17372, writes 0 timeouts 0
2025-04-24 10:56:02 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37176
2025-04-24 10:56:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:02 [info] currentZPosition:0.0878
2025-04-24 10:56:03 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:03 [debug] Diagnostics for board 50:
2025-04-24 10:56:03 [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 10:56:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:08 ago, cause: software
2025-04-24 10:56:03 [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 10:56:03 [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 10:56:03 [debug] Moves scheduled 10350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6355, max=17045
Sync err accum 122, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:56:03 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16486, writes 0 timeouts 0
2025-04-24 10:56:03 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37177
2025-04-24 10:56:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:03 [info] currentZPosition:0.0882
2025-04-24 10:56:05 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:05 [debug] Diagnostics for board 50:
2025-04-24 10:56:05 [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 10:56:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:10 ago, cause: software
2025-04-24 10:56:05 [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 10:56:05 [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 10:56:05 [debug] Moves scheduled 10354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 113, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 10:56:05 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16809, writes 0 timeouts 0
2025-04-24 10:56:05 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37176
2025-04-24 10:56:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:05 [info] currentZPosition:0.0894
2025-04-24 10:56:06 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:06 [debug] Diagnostics for board 50:
2025-04-24 10:56:06 [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 10:56:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:11 ago, cause: software
2025-04-24 10:56:06 [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 10:56:06 [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 10:56:06 [debug] Moves scheduled 10358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 106, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:06 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16874, writes 0 timeouts 0
2025-04-24 10:56:06 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37172
2025-04-24 10:56:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:06 [info] currentZPosition:0.0885
2025-04-24 10:56:07 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:07 [debug] Diagnostics for board 50:
2025-04-24 10:56:07 [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 10:56:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:12 ago, cause: software
2025-04-24 10:56:07 [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 10:56:07 [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 10:56:07 [debug] Moves scheduled 10362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=18292
Sync err accum 91, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:07 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17390, writes 0 timeouts 0
2025-04-24 10:56:07 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37174
2025-04-24 10:56:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:08 [info] currentZPosition:0.0877
2025-04-24 10:56:09 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:09 [debug] Diagnostics for board 50:
2025-04-24 10:56:09 [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 10:56:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:14 ago, cause: software
2025-04-24 10:56:09 [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 10:56:09 [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 10:56:09 [debug] Moves scheduled 10366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=18292
Sync err accum 77, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:09 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16702, writes 0 timeouts 0
2025-04-24 10:56:09 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37175
2025-04-24 10:56:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:09 [info] currentZPosition:0.0875
2025-04-24 10:56:10 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:10 [debug] Diagnostics for board 50:
2025-04-24 10:56:10 [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 10:56:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:15 ago, cause: software
2025-04-24 10:56:10 [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 10:56:10 [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 10:56:10 [debug] Moves scheduled 10370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -4/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:10 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16911, writes 0 timeouts 0
2025-04-24 10:56:10 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37177
2025-04-24 10:56:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:10 [info] currentZPosition:0.0883
2025-04-24 10:56:12 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:12 [debug] Diagnostics for board 50:
2025-04-24 10:56:12 [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 10:56:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:16 ago, cause: software
2025-04-24 10:56:12 [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 10:56:12 [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 10:56:12 [debug] Moves scheduled 10374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
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 4294935586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:12 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16885, writes 0 timeouts 0
2025-04-24 10:56:12 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37174
2025-04-24 10:56:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:12 [info] currentZPosition:0.0872
2025-04-24 10:56:13 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:13 [debug] Diagnostics for board 50:
2025-04-24 10:56:13 [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 10:56:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:18 ago, cause: software
2025-04-24 10:56:13 [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 10:56:13 [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 10:56:13 [debug] Moves scheduled 10378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:13 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17067, writes 0 timeouts 0
2025-04-24 10:56:13 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37173
2025-04-24 10:56:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:13 [info] currentZPosition:0.0875
2025-04-24 10:56:14 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:14 [debug] Diagnostics for board 50:
2025-04-24 10:56:14 [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 10:56:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:19 ago, cause: software
2025-04-24 10:56:14 [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 10:56:14 [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 10:56:14 [debug] Moves scheduled 10382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
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 4294933415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:14 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16609, writes 0 timeouts 0
2025-04-24 10:56:14 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36152/37175
2025-04-24 10:56:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:14 [info] currentZPosition:0.0874
2025-04-24 10:56:16 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:16 [debug] Diagnostics for board 50:
2025-04-24 10:56:16 [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 10:56:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:20 ago, cause: software
2025-04-24 10:56:16 [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 10:56:16 [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 10:56:16 [debug] Moves scheduled 10386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 78, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:16 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17064, writes 0 timeouts 0
2025-04-24 10:56:16 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37171
2025-04-24 10:56:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:16 [info] currentZPosition:0.0879
2025-04-24 10:56:17 [debug] Stopped at height 0.090 mm
2025-04-24 10:56:17 [debug] Diagnostics for board 50:
2025-04-24 10:56:17 [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 10:56:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:22 ago, cause: software
2025-04-24 10:56:17 [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 10:56:17 [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 10:56:17 [debug] Moves scheduled 10390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:17 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16060, writes 0 timeouts 0
2025-04-24 10:56:17 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36171/37176
2025-04-24 10:56:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8691, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:17 [info] currentZPosition:0.0896
2025-04-24 10:56:17 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:19 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:19 [debug] Diagnostics for board 50:
2025-04-24 10:56:19 [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 10:56:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:23 ago, cause: software
2025-04-24 10:56:19 [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 10:56:19 [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 10:56:19 [debug] Moves scheduled 10396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 76, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:19 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21474, writes 0 timeouts 0
2025-04-24 10:56:19 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37177
2025-04-24 10:56:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:19 [info] currentZPosition:0.0881
2025-04-24 10:56:20 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:20 [debug] Diagnostics for board 50:
2025-04-24 10:56:20 [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 10:56:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:25 ago, cause: software
2025-04-24 10:56:20 [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 10:56:20 [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 10:56:20 [debug] Moves scheduled 10400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=5725, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:20 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16585, writes 0 timeouts 0
2025-04-24 10:56:20 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36155/37175
2025-04-24 10:56:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:20 [info] currentZPosition:0.0881
2025-04-24 10:56:21 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:21 [debug] Diagnostics for board 50:
2025-04-24 10:56:21 [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 10:56:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:26 ago, cause: software
2025-04-24 10:56:21 [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 10:56:21 [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 10:56:21 [debug] Moves scheduled 10404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 64, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:21 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17069, writes 0 timeouts 0
2025-04-24 10:56:21 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36092/37178
2025-04-24 10:56:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:21 [info] currentZPosition:0.0885
2025-04-24 10:56:23 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:23 [debug] Diagnostics for board 50:
2025-04-24 10:56:23 [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 10:56:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:27 ago, cause: software
2025-04-24 10:56:23 [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 10:56:23 [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 10:56:23 [debug] Moves scheduled 10408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 67, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:23 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16793, writes 0 timeouts 0
2025-04-24 10:56:23 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36163/37174
2025-04-24 10:56:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:23 [info] currentZPosition:0.0878
2025-04-24 10:56:24 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:24 [debug] Diagnostics for board 50:
2025-04-24 10:56:24 [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 10:56:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:29 ago, cause: software
2025-04-24 10:56:24 [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 10:56:24 [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 10:56:24 [debug] Moves scheduled 10412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:24 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16953, writes 0 timeouts 0
2025-04-24 10:56:24 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37176
2025-04-24 10:56:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:24 [info] currentZPosition:0.0888
2025-04-24 10:56:25 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:25 [debug] Diagnostics for board 50:
2025-04-24 10:56:25 [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 10:56:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:30 ago, cause: software
2025-04-24 10:56:25 [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 10:56:25 [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 10:56:25 [debug] Moves scheduled 10416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:25 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16691, writes 0 timeouts 0
2025-04-24 10:56:25 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37173
2025-04-24 10:56:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:25 [info] currentZPosition:0.0885
2025-04-24 10:56:27 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:27 [debug] Diagnostics for board 50:
2025-04-24 10:56:27 [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 10:56:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:31 ago, cause: software
2025-04-24 10:56:27 [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 10:56:27 [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 10:56:27 [debug] Moves scheduled 10420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 84, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:27 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17046, writes 0 timeouts 0
2025-04-24 10:56:27 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37174
2025-04-24 10:56:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8739, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:27 [info] currentZPosition:0.0889
2025-04-24 10:56:28 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:28 [debug] Diagnostics for board 50:
2025-04-24 10:56:28 [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 10:56:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:33 ago, cause: software
2025-04-24 10:56:28 [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 10:56:28 [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 10:56:28 [debug] Moves scheduled 10424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 84, peak jitter 0/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:28 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16813, writes 0 timeouts 0
2025-04-24 10:56:28 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37173
2025-04-24 10:56:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:28 [info] currentZPosition:0.0882
2025-04-24 10:56:29 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:29 [debug] Diagnostics for board 50:
2025-04-24 10:56:29 [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 10:56:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:34 ago, cause: software
2025-04-24 10:56:29 [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 10:56:29 [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 10:56:29 [debug] Moves scheduled 10428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:29 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17238, writes 0 timeouts 0
2025-04-24 10:56:29 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37174
2025-04-24 10:56:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:29 [info] currentZPosition:0.0880
2025-04-24 10:56:31 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:31 [debug] Diagnostics for board 50:
2025-04-24 10:56:31 [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 10:56:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:36 ago, cause: software
2025-04-24 10:56:31 [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 10:56:31 [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 10:56:31 [debug] Moves scheduled 10432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6880, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:31 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16594, writes 0 timeouts 0
2025-04-24 10:56:31 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36278/37174
2025-04-24 10:56:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:31 [info] currentZPosition:0.0880
2025-04-24 10:56:32 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:32 [debug] Diagnostics for board 50:
2025-04-24 10:56:32 [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 10:56:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:37 ago, cause: software
2025-04-24 10:56:32 [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 10:56:32 [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 10:56:32 [debug] Moves scheduled 10436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:32 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17088, writes 0 timeouts 0
2025-04-24 10:56:32 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37177
2025-04-24 10:56:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:32 [info] currentZPosition:0.0885
2025-04-24 10:56:33 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:33 [debug] Diagnostics for board 50:
2025-04-24 10:56:33 [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 10:56:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:38 ago, cause: software
2025-04-24 10:56:33 [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 10:56:33 [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 10:56:33 [debug] Moves scheduled 10440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294935396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:33 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16802, writes 0 timeouts 0
2025-04-24 10:56:33 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36406/37175
2025-04-24 10:56:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:34 [info] currentZPosition:0.0879
2025-04-24 10:56:35 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:35 [debug] Diagnostics for board 50:
2025-04-24 10:56:35 [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 10:56:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:40 ago, cause: software
2025-04-24 10:56:35 [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 10:56:35 [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 10:56:35 [debug] Moves scheduled 10444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 68, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:35 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17047, writes 0 timeouts 0
2025-04-24 10:56:35 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37176
2025-04-24 10:56:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:35 [info] currentZPosition:0.0883
2025-04-24 10:56:36 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:36 [debug] Diagnostics for board 50:
2025-04-24 10:56:36 [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 10:56:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:41 ago, cause: software
2025-04-24 10:56:36 [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 10:56:36 [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 10:56:36 [debug] Moves scheduled 10448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17857
Sync err accum 76, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:36 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16530, writes 0 timeouts 0
2025-04-24 10:56:36 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37177
2025-04-24 10:56:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:36 [info] currentZPosition:0.0886
2025-04-24 10:56:38 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:38 [debug] Diagnostics for board 50:
2025-04-24 10:56:38 [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 10:56:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:42 ago, cause: software
2025-04-24 10:56:38 [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 10:56:38 [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 10:56:38 [debug] Moves scheduled 10452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 79, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:38 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17178, writes 0 timeouts 0
2025-04-24 10:56:38 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 10:56:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:38 [info] currentZPosition:0.0886
2025-04-24 10:56:39 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:39 [debug] Diagnostics for board 50:
2025-04-24 10:56:39 [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 10:56:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:44 ago, cause: software
2025-04-24 10:56:39 [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 10:56:39 [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 10:56:39 [debug] Moves scheduled 10456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 83, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:39 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16657, writes 0 timeouts 0
2025-04-24 10:56:39 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37177
2025-04-24 10:56:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:39 [info] currentZPosition:0.0883
2025-04-24 10:56:40 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:40 [debug] Diagnostics for board 50:
2025-04-24 10:56:40 [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 10:56:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:45 ago, cause: software
2025-04-24 10:56:40 [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 10:56:40 [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 10:56:40 [debug] Moves scheduled 10460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 82, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:40 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17147, writes 0 timeouts 0
2025-04-24 10:56:40 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37175
2025-04-24 10:56:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:40 [info] currentZPosition:0.0887
2025-04-24 10:56:42 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:42 [debug] Diagnostics for board 50:
2025-04-24 10:56:42 [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 10:56:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:46 ago, cause: software
2025-04-24 10:56:42 [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 10:56:42 [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 10:56:42 [debug] Moves scheduled 10464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=17045
Sync err accum 83, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:42 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16934, writes 0 timeouts 0
2025-04-24 10:56:42 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37176
2025-04-24 10:56:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:42 [info] currentZPosition:0.0878
2025-04-24 10:56:43 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:43 [debug] Diagnostics for board 50:
2025-04-24 10:56:43 [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 10:56:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:48 ago, cause: software
2025-04-24 10:56:43 [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 10:56:43 [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 10:56:43 [debug] Moves scheduled 10468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:43 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17049, writes 0 timeouts 0
2025-04-24 10:56:43 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37171
2025-04-24 10:56:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:43 [info] currentZPosition:0.0880
2025-04-24 10:56:44 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:44 [debug] Diagnostics for board 50:
2025-04-24 10:56:44 [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 10:56:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:49 ago, cause: software
2025-04-24 10:56:44 [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 10:56:44 [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 10:56:44 [debug] Moves scheduled 10472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 74, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:44 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16784, writes 0 timeouts 0
2025-04-24 10:56:44 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37175
2025-04-24 10:56:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:44 [info] currentZPosition:0.0874
2025-04-24 10:56:46 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:46 [debug] Diagnostics for board 50:
2025-04-24 10:56:46 [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 10:56:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:50 ago, cause: software
2025-04-24 10:56:46 [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 10:56:46 [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 10:56:46 [debug] Moves scheduled 10476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 68, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:46 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16733, writes 0 timeouts 0
2025-04-24 10:56:46 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37177
2025-04-24 10:56:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:46 [info] currentZPosition:0.0889
2025-04-24 10:56:46 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:47 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:47 [debug] Diagnostics for board 50:
2025-04-24 10:56:47 [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 10:56:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:52 ago, cause: software
2025-04-24 10:56:47 [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 10:56:47 [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 10:56:47 [debug] Moves scheduled 10482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:47 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20678, writes 0 timeouts 0
2025-04-24 10:56:47 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37178
2025-04-24 10:56:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:47 [info] currentZPosition:0.0882
2025-04-24 10:56:49 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:49 [debug] Diagnostics for board 50:
2025-04-24 10:56:49 [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 10:56:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:53 ago, cause: software
2025-04-24 10:56:49 [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 10:56:49 [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 10:56:49 [debug] Moves scheduled 10486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=514, max=17045
Sync err accum 79, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 10:56:49 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17239, writes 11 timeouts 1
2025-04-24 10:56:49 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37172
2025-04-24 10:56:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:49 [info] currentZPosition:0.0879
2025-04-24 10:56:50 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:50 [debug] Diagnostics for board 50:
2025-04-24 10:56:50 [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 10:56:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:55 ago, cause: software
2025-04-24 10:56:50 [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 10:56:50 [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 10:56:50 [debug] Moves scheduled 10490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 89, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:56:50 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16291, writes 0 timeouts 0
2025-04-24 10:56:50 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36274/37172
2025-04-24 10:56:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:50 [info] currentZPosition:0.0890
2025-04-24 10:56:51 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:51 [debug] Diagnostics for board 50:
2025-04-24 10:56:51 [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 10:56:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:56 ago, cause: software
2025-04-24 10:56:51 [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 10:56:51 [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 10:56:51 [debug] Moves scheduled 10494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 100, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:51 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17740, writes 0 timeouts 0
2025-04-24 10:56:51 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37173
2025-04-24 10:56:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:51 [info] currentZPosition:0.0871
2025-04-24 10:56:52 [debug] Stopped at height 0.089 mm
2025-04-24 10:56:53 [debug] Stopped at height 0.087 mm
2025-04-24 10:56:53 [debug] Diagnostics for board 50:
2025-04-24 10:56:53 [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 10:56:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:58:58 ago, cause: software
2025-04-24 10:56:53 [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 10:56:53 [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 10:56:53 [debug] Moves scheduled 10500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 112, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:53 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20330, writes 0 timeouts 0
2025-04-24 10:56:53 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36393/37175
2025-04-24 10:56:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:53 [info] currentZPosition:0.0875
2025-04-24 10:56:53 [debug] Stopped at height 0.086 mm
2025-04-24 10:56:55 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:55 [debug] Diagnostics for board 50:
2025-04-24 10:56:55 [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 10:56:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:00 ago, cause: software
2025-04-24 10:56:55 [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 10:56:55 [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 10:56:55 [debug] Moves scheduled 10506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 121, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:55 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 21252, writes 0 timeouts 0
2025-04-24 10:56:55 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36105/37176
2025-04-24 10:56:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:55 [info] currentZPosition:0.0876
2025-04-24 10:56:56 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:56 [debug] Diagnostics for board 50:
2025-04-24 10:56:56 [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 10:56:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:01 ago, cause: software
2025-04-24 10:56:56 [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 10:56:56 [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 10:56:56 [debug] Moves scheduled 10510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 124, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:56:56 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16417, writes 0 timeouts 0
2025-04-24 10:56:56 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36383/37177
2025-04-24 10:56:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:56 [info] currentZPosition:0.0882
2025-04-24 10:56:57 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:57 [debug] Diagnostics for board 50:
2025-04-24 10:56:57 [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 10:56:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:02 ago, cause: software
2025-04-24 10:56:57 [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 10:56:57 [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 10:56:57 [debug] Moves scheduled 10514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 124, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:56:57 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17275, writes 0 timeouts 0
2025-04-24 10:56:57 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37177
2025-04-24 10:56:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:57 [info] currentZPosition:0.0880
2025-04-24 10:56:59 [debug] Stopped at height 0.088 mm
2025-04-24 10:56:59 [debug] Diagnostics for board 50:
2025-04-24 10:56:59 [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 10:56:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:04 ago, cause: software
2025-04-24 10:56:59 [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 10:56:59 [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 10:56:59 [debug] Moves scheduled 10518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 121, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:56:59 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16657, writes 0 timeouts 0
2025-04-24 10:56:59 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37176
2025-04-24 10:56:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:56:59 [info] currentZPosition:0.0879
2025-04-24 10:57:00 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:00 [debug] Diagnostics for board 50:
2025-04-24 10:57:00 [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 10:57:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:05 ago, cause: software
2025-04-24 10:57:00 [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 10:57:00 [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 10:57:00 [debug] Moves scheduled 10522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 118, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:00 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17076, writes 0 timeouts 0
2025-04-24 10:57:00 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36008/37177
2025-04-24 10:57:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:00 [info] currentZPosition:0.0883
2025-04-24 10:57:01 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:01 [debug] Diagnostics for board 50:
2025-04-24 10:57:01 [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 10:57:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:06 ago, cause: software
2025-04-24 10:57:01 [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 10:57:01 [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 10:57:01 [debug] Moves scheduled 10526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 112, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:01 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16675, writes 0 timeouts 0
2025-04-24 10:57:01 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36405/37177
2025-04-24 10:57:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:02 [info] currentZPosition:0.0881
2025-04-24 10:57:03 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:03 [debug] Diagnostics for board 50:
2025-04-24 10:57:03 [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 10:57:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:08 ago, cause: software
2025-04-24 10:57:03 [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 10:57:03 [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 10:57:03 [debug] Moves scheduled 10530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 105, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 10:57:03 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16944, writes 0 timeouts 0
2025-04-24 10:57:03 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37176
2025-04-24 10:57:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8767, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:03 [info] currentZPosition:0.0888
2025-04-24 10:57:04 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:04 [debug] Diagnostics for board 50:
2025-04-24 10:57:04 [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 10:57:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:09 ago, cause: software
2025-04-24 10:57:04 [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 10:57:04 [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 10:57:04 [debug] Moves scheduled 10534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 95, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:04 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16958, writes 0 timeouts 0
2025-04-24 10:57:04 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37177
2025-04-24 10:57:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:04 [info] currentZPosition:0.0878
2025-04-24 10:57:05 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:05 [debug] Diagnostics for board 50:
2025-04-24 10:57:05 [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 10:57:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:10 ago, cause: software
2025-04-24 10:57:05 [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 10:57:05 [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 10:57:05 [debug] Moves scheduled 10538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6097, max=17857
Sync err accum 81, peak jitter -2/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:05 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16826, writes 0 timeouts 0
2025-04-24 10:57:05 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37177
2025-04-24 10:57:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:06 [info] currentZPosition:0.0890
2025-04-24 10:57:07 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:07 [debug] Diagnostics for board 50:
2025-04-24 10:57:07 [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 10:57:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:12 ago, cause: software
2025-04-24 10:57:07 [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 10:57:07 [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 10:57:07 [debug] Moves scheduled 10542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 69, peak jitter -2/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:07 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16622, writes 0 timeouts 0
2025-04-24 10:57:07 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37177
2025-04-24 10:57:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:07 [info] currentZPosition:0.0890
2025-04-24 10:57:08 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:08 [debug] Diagnostics for board 50:
2025-04-24 10:57:08 [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 10:57:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:13 ago, cause: software
2025-04-24 10:57:08 [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 10:57:08 [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 10:57:08 [debug] Moves scheduled 10546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:08 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17313, writes 0 timeouts 0
2025-04-24 10:57:08 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37178
2025-04-24 10:57:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:08 [info] currentZPosition:0.0885
2025-04-24 10:57:10 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:10 [debug] Diagnostics for board 50:
2025-04-24 10:57:10 [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 10:57:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:14 ago, cause: software
2025-04-24 10:57:10 [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 10:57:10 [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 10:57:10 [debug] Moves scheduled 10550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:57:10 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16408, writes 0 timeouts 0
2025-04-24 10:57:10 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36395/37173
2025-04-24 10:57:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:10 [info] currentZPosition:0.0892
2025-04-24 10:57:11 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:11 [debug] Diagnostics for board 50:
2025-04-24 10:57:11 [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 10:57:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:16 ago, cause: software
2025-04-24 10:57:11 [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 10:57:11 [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 10:57:11 [debug] Moves scheduled 10554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 75, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:11 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17444, writes 0 timeouts 0
2025-04-24 10:57:11 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36112/37176
2025-04-24 10:57:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:11 [info] currentZPosition:0.0883
2025-04-24 10:57:12 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:12 [debug] Diagnostics for board 50:
2025-04-24 10:57:12 [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 10:57:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:17 ago, cause: software
2025-04-24 10:57:12 [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 10:57:12 [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 10:57:12 [debug] Moves scheduled 10558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930838 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:12 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16719, writes 0 timeouts 0
2025-04-24 10:57:12 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37176
2025-04-24 10:57:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:12 [info] currentZPosition:0.0881
2025-04-24 10:57:14 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:14 [debug] Diagnostics for board 50:
2025-04-24 10:57:14 [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 10:57:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:18 ago, cause: software
2025-04-24 10:57:14 [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 10:57:14 [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 10:57:14 [debug] Moves scheduled 10562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6944, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:14 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17133, writes 0 timeouts 0
2025-04-24 10:57:14 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 10:57:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:14 [info] currentZPosition:0.0882
2025-04-24 10:57:15 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:15 [debug] Diagnostics for board 50:
2025-04-24 10:57:15 [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 10:57:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:20 ago, cause: software
2025-04-24 10:57:15 [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 10:57:15 [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 10:57:15 [debug] Moves scheduled 10566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 74, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:15 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16627, writes 0 timeouts 0
2025-04-24 10:57:15 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37177
2025-04-24 10:57:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:15 [info] currentZPosition:0.0881
2025-04-24 10:57:16 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:16 [debug] Diagnostics for board 50:
2025-04-24 10:57:16 [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 10:57:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:21 ago, cause: software
2025-04-24 10:57:16 [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 10:57:16 [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 10:57:16 [debug] Moves scheduled 10570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:16 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16891, writes 0 timeouts 0
2025-04-24 10:57:16 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37175
2025-04-24 10:57:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:16 [info] currentZPosition:0.0890
2025-04-24 10:57:18 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:18 [debug] Diagnostics for board 50:
2025-04-24 10:57:18 [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 10:57:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:22 ago, cause: software
2025-04-24 10:57:18 [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 10:57:18 [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 10:57:18 [debug] Moves scheduled 10574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:18 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16976, writes 0 timeouts 0
2025-04-24 10:57:18 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36400/37176
2025-04-24 10:57:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:18 [info] currentZPosition:0.0880
2025-04-24 10:57:19 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:19 [debug] Diagnostics for board 50:
2025-04-24 10:57:19 [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 10:57:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:24 ago, cause: software
2025-04-24 10:57:19 [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 10:57:19 [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 10:57:19 [debug] Moves scheduled 10578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 66, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:19 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17224, writes 0 timeouts 0
2025-04-24 10:57:19 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37176
2025-04-24 10:57:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:19 [info] currentZPosition:0.0878
2025-04-24 10:57:20 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:20 [debug] Diagnostics for board 50:
2025-04-24 10:57:20 [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 10:57:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:25 ago, cause: software
2025-04-24 10:57:20 [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 10:57:20 [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 10:57:20 [debug] Moves scheduled 10582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6880, max=17045
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:20 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16338, writes 0 timeouts 0
2025-04-24 10:57:20 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37175
2025-04-24 10:57:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:20 [info] currentZPosition:0.0888
2025-04-24 10:57:22 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:22 [debug] Diagnostics for board 50:
2025-04-24 10:57:22 [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 10:57:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:27 ago, cause: software
2025-04-24 10:57:22 [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 10:57:22 [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 10:57:22 [debug] Moves scheduled 10586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6000, max=17857
Sync err accum 69, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:22 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17452, writes 0 timeouts 0
2025-04-24 10:57:22 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37177
2025-04-24 10:57:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:22 [info] currentZPosition:0.0879
2025-04-24 10:57:23 [debug] Stopped at height 0.087 mm
2025-04-24 10:57:23 [debug] Diagnostics for board 50:
2025-04-24 10:57:23 [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 10:57:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:28 ago, cause: software
2025-04-24 10:57:23 [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 10:57:23 [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 10:57:23 [debug] Moves scheduled 10590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:23 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17053, writes 0 timeouts 0
2025-04-24 10:57:23 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37175
2025-04-24 10:57:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:23 [info] currentZPosition:0.0866
2025-04-24 10:57:24 [debug] Stopped at height 0.086 mm
2025-04-24 10:57:25 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:25 [debug] Diagnostics for board 50:
2025-04-24 10:57:25 [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 10:57:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:30 ago, cause: software
2025-04-24 10:57:25 [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 10:57:25 [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 10:57:25 [debug] Moves scheduled 10596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:25 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20443, writes 0 timeouts 0
2025-04-24 10:57:25 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36098/37170
2025-04-24 10:57:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:25 [info] currentZPosition:0.0888
2025-04-24 10:57:25 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:26 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:26 [debug] Diagnostics for board 50:
2025-04-24 10:57:26 [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 10:57:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:31 ago, cause: software
2025-04-24 10:57:26 [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 10:57:26 [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 10:57:26 [debug] Moves scheduled 10602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:57:26 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20806, writes 0 timeouts 0
2025-04-24 10:57:26 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37169
2025-04-24 10:57:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:26 [info] currentZPosition:0.0881
2025-04-24 10:57:28 [debug] Stopped at height 0.090 mm
2025-04-24 10:57:28 [debug] Diagnostics for board 50:
2025-04-24 10:57:28 [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 10:57:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:33 ago, cause: software
2025-04-24 10:57:28 [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 10:57:28 [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 10:57:28 [debug] Moves scheduled 10606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 88, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:57:28 [debug] Driver 0: pos -3440, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16541, writes 0 timeouts 0
2025-04-24 10:57:28 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37173
2025-04-24 10:57:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:28 [info] currentZPosition:0.0903
2025-04-24 10:57:28 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:29 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:29 [debug] Diagnostics for board 50:
2025-04-24 10:57:29 [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 10:57:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:34 ago, cause: software
2025-04-24 10:57:29 [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 10:57:29 [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 10:57:29 [debug] Moves scheduled 10612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17857
Sync err accum 98, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294935437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:57:29 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 21649, writes 0 timeouts 0
2025-04-24 10:57:29 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37176
2025-04-24 10:57:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:30 [info] currentZPosition:0.0887
2025-04-24 10:57:31 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:31 [debug] Diagnostics for board 50:
2025-04-24 10:57:31 [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 10:57:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:36 ago, cause: software
2025-04-24 10:57:31 [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 10:57:31 [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 10:57:31 [debug] Moves scheduled 10616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:31 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17165, writes 0 timeouts 0
2025-04-24 10:57:31 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37177
2025-04-24 10:57:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:31 [info] currentZPosition:0.0888
2025-04-24 10:57:32 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:32 [debug] Diagnostics for board 50:
2025-04-24 10:57:32 [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 10:57:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:37 ago, cause: software
2025-04-24 10:57:32 [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 10:57:32 [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 10:57:32 [debug] Moves scheduled 10620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:32 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16505, writes 0 timeouts 0
2025-04-24 10:57:32 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36150/37174
2025-04-24 10:57:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:32 [info] currentZPosition:0.0891
2025-04-24 10:57:34 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:34 [debug] Diagnostics for board 50:
2025-04-24 10:57:34 [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 10:57:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:38 ago, cause: software
2025-04-24 10:57:34 [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 10:57:34 [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 10:57:34 [debug] Moves scheduled 10624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 104, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:34 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17516, writes 0 timeouts 0
2025-04-24 10:57:34 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37177
2025-04-24 10:57:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:34 [info] currentZPosition:0.0880
2025-04-24 10:57:35 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:35 [debug] Diagnostics for board 50:
2025-04-24 10:57:35 [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 10:57:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:40 ago, cause: software
2025-04-24 10:57:35 [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 10:57:35 [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 10:57:35 [debug] Moves scheduled 10628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17045
Sync err accum 100, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:35 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16425, writes 0 timeouts 0
2025-04-24 10:57:35 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37175
2025-04-24 10:57:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:35 [info] currentZPosition:0.0885
2025-04-24 10:57:36 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:36 [debug] Diagnostics for board 50:
2025-04-24 10:57:36 [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 10:57:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:41 ago, cause: software
2025-04-24 10:57:36 [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 10:57:36 [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 10:57:36 [debug] Moves scheduled 10632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6465, max=18292
Sync err accum 93, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:36 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16979, writes 0 timeouts 0
2025-04-24 10:57:36 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36088/37166
2025-04-24 10:57:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:36 [info] currentZPosition:0.0891
2025-04-24 10:57:38 [debug] Stopped at height 0.087 mm
2025-04-24 10:57:38 [debug] Diagnostics for board 50:
2025-04-24 10:57:38 [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 10:57:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:42 ago, cause: software
2025-04-24 10:57:38 [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 10:57:38 [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 10:57:38 [debug] Moves scheduled 10636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7009, max=17045
Sync err accum 88, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294928545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:38 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17320, writes 0 timeouts 0
2025-04-24 10:57:38 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36168/37177
2025-04-24 10:57:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:38 [info] currentZPosition:0.0870
2025-04-24 10:57:38 [debug] Stopped at height 0.086 mm
2025-04-24 10:57:39 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:39 [debug] Diagnostics for board 50:
2025-04-24 10:57:39 [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 10:57:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:44 ago, cause: software
2025-04-24 10:57:39 [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 10:57:39 [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 10:57:39 [debug] Moves scheduled 10642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6198, max=17857
Sync err accum 72, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:39 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20703, writes 0 timeouts 0
2025-04-24 10:57:39 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37177
2025-04-24 10:57:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:39 [info] currentZPosition:0.0884
2025-04-24 10:57:40 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:41 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:41 [debug] Diagnostics for board 50:
2025-04-24 10:57:41 [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 10:57:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:46 ago, cause: software
2025-04-24 10:57:41 [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 10:57:41 [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 10:57:41 [debug] Moves scheduled 10648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5905, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:41 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20222, writes 0 timeouts 0
2025-04-24 10:57:41 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37176
2025-04-24 10:57:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:41 [info] currentZPosition:0.0892
2025-04-24 10:57:41 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:43 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:43 [debug] Diagnostics for board 50:
2025-04-24 10:57:43 [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 10:57:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:47 ago, cause: software
2025-04-24 10:57:43 [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 10:57:43 [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 10:57:43 [debug] Moves scheduled 10654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:43 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 21323, writes 0 timeouts 0
2025-04-24 10:57:43 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36089/37171
2025-04-24 10:57:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:43 [info] currentZPosition:0.0883
2025-04-24 10:57:44 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:44 [debug] Diagnostics for board 50:
2025-04-24 10:57:44 [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 10:57:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:49 ago, cause: software
2025-04-24 10:57:44 [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 10:57:44 [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 10:57:44 [debug] Moves scheduled 10658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:57:44 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16689, writes 0 timeouts 0
2025-04-24 10:57:44 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36160/37173
2025-04-24 10:57:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:44 [info] currentZPosition:0.0882
2025-04-24 10:57:45 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:45 [debug] Diagnostics for board 50:
2025-04-24 10:57:45 [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 10:57:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:50 ago, cause: software
2025-04-24 10:57:45 [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 10:57:45 [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 10:57:45 [debug] Moves scheduled 10662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 101, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:45 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16925, writes 0 timeouts 0
2025-04-24 10:57:45 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37174
2025-04-24 10:57:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:45 [info] currentZPosition:0.0890
2025-04-24 10:57:47 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:47 [debug] Diagnostics for board 50:
2025-04-24 10:57:47 [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 10:57:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:51 ago, cause: software
2025-04-24 10:57:47 [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 10:57:47 [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 10:57:47 [debug] Moves scheduled 10666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=97, frequency (Hz): min=6048, max=17045
Sync err accum 109, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294928000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:47 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16683, writes 0 timeouts 0
2025-04-24 10:57:47 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37174
2025-04-24 10:57:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:47 [info] currentZPosition:0.0888
2025-04-24 10:57:48 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:48 [debug] Diagnostics for board 50:
2025-04-24 10:57:48 [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 10:57:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:53 ago, cause: software
2025-04-24 10:57:48 [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 10:57:48 [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 10:57:48 [debug] Moves scheduled 10670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=5952, max=18292
Sync err accum 115, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:48 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17415, writes 0 timeouts 0
2025-04-24 10:57:48 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37174
2025-04-24 10:57:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:48 [info] currentZPosition:0.0882
2025-04-24 10:57:49 [debug] Stopped at height 0.090 mm
2025-04-24 10:57:49 [debug] Diagnostics for board 50:
2025-04-24 10:57:49 [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 10:57:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:54 ago, cause: software
2025-04-24 10:57:49 [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 10:57:49 [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 10:57:49 [debug] Moves scheduled 10674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=5952, max=18292
Sync err accum 119, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:49 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 15908, writes 0 timeouts 0
2025-04-24 10:57:49 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36157/37175
2025-04-24 10:57:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:49 [info] currentZPosition:0.0902
2025-04-24 10:57:50 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:51 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:51 [debug] Diagnostics for board 50:
2025-04-24 10:57:51 [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 10:57:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:56 ago, cause: software
2025-04-24 10:57:51 [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 10:57:51 [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 10:57:51 [debug] Moves scheduled 10680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6818, max=17045
Sync err accum 119, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:57:51 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21307, writes 0 timeouts 0
2025-04-24 10:57:51 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37173
2025-04-24 10:57:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:51 [info] currentZPosition:0.0893
2025-04-24 10:57:52 [debug] Stopped at height 0.090 mm
2025-04-24 10:57:52 [debug] Diagnostics for board 50:
2025-04-24 10:57:52 [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 10:57:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:57 ago, cause: software
2025-04-24 10:57:52 [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 10:57:52 [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 10:57:52 [debug] Moves scheduled 10684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 116, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:52 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16433, writes 0 timeouts 0
2025-04-24 10:57:52 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37174
2025-04-24 10:57:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:52 [info] currentZPosition:0.0901
2025-04-24 10:57:54 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:54 [debug] Diagnostics for board 50:
2025-04-24 10:57:54 [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 10:57:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:59:59 ago, cause: software
2025-04-24 10:57:54 [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 10:57:54 [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 10:57:54 [debug] Moves scheduled 10688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=508, max=17045
Sync err accum 112, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:57:54 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17746, writes 11 timeouts 1
2025-04-24 10:57:54 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36008/37175
2025-04-24 10:57:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:54 [info] currentZPosition:0.0880
2025-04-24 10:57:54 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:55 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:55 [debug] Diagnostics for board 50:
2025-04-24 10:57:55 [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 10:57:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:00 ago, cause: software
2025-04-24 10:57:55 [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 10:57:55 [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 10:57:55 [debug] Moves scheduled 10694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 105, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:55 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20118, writes 0 timeouts 0
2025-04-24 10:57:55 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36163/37176
2025-04-24 10:57:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:55 [info] currentZPosition:0.0895
2025-04-24 10:57:56 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:57 [debug] Stopped at height 0.089 mm
2025-04-24 10:57:57 [debug] Diagnostics for board 50:
2025-04-24 10:57:57 [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 10:57:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:02 ago, cause: software
2025-04-24 10:57:57 [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 10:57:57 [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 10:57:57 [debug] Moves scheduled 10700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6302, max=18292
Sync err accum 94, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:57 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 21266, writes 0 timeouts 0
2025-04-24 10:57:57 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36105/37173
2025-04-24 10:57:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:57 [info] currentZPosition:0.0889
2025-04-24 10:57:58 [debug] Stopped at height 0.088 mm
2025-04-24 10:57:58 [debug] Diagnostics for board 50:
2025-04-24 10:57:58 [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 10:57:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:03 ago, cause: software
2025-04-24 10:57:58 [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 10:57:58 [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 10:57:58 [debug] Moves scheduled 10704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:57:58 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16762, writes 0 timeouts 0
2025-04-24 10:57:58 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37176
2025-04-24 10:57:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:57:58 [info] currentZPosition:0.0882
2025-04-24 10:58:00 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:00 [debug] Diagnostics for board 50:
2025-04-24 10:58:00 [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 10:58:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:05 ago, cause: software
2025-04-24 10:58:00 [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 10:58:00 [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 10:58:00 [debug] Moves scheduled 10708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6578, max=17045
Sync err accum 63, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 10:58:00 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17011, writes 0 timeouts 0
2025-04-24 10:58:00 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37178
2025-04-24 10:58:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:00 [info] currentZPosition:0.0888
2025-04-24 10:58:01 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:01 [debug] Diagnostics for board 50:
2025-04-24 10:58:01 [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 10:58:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:06 ago, cause: software
2025-04-24 10:58:01 [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 10:58:01 [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 10:58:01 [debug] Moves scheduled 10712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:01 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16453, writes 0 timeouts 0
2025-04-24 10:58:01 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36150/37173
2025-04-24 10:58:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:01 [info] currentZPosition:0.0894
2025-04-24 10:58:02 [debug] Stopped at height 0.088 mm
2025-04-24 10:58:02 [debug] Diagnostics for board 50:
2025-04-24 10:58:02 [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 10:58:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:07 ago, cause: software
2025-04-24 10:58:02 [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 10:58:02 [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 10:58:02 [debug] Moves scheduled 10716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17441
Sync err accum 80, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:58:02 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17618, writes 0 timeouts 0
2025-04-24 10:58:02 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37175
2025-04-24 10:58:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:03 [info] currentZPosition:0.0880
2025-04-24 10:58:03 [debug] Stopped at height 0.087 mm
2025-04-24 10:58:04 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:04 [debug] Diagnostics for board 50:
2025-04-24 10:58:04 [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 10:58:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:09 ago, cause: software
2025-04-24 10:58:04 [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 10:58:04 [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 10:58:04 [debug] Moves scheduled 10722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 91, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:58:04 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 20230, writes 0 timeouts 0
2025-04-24 10:58:04 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36146/37174
2025-04-24 10:58:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:04 [info] currentZPosition:0.0893
2025-04-24 10:58:05 [debug] Stopped at height 0.088 mm
2025-04-24 10:58:06 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:06 [debug] Diagnostics for board 50:
2025-04-24 10:58:06 [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 10:58:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:11 ago, cause: software
2025-04-24 10:58:06 [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 10:58:06 [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 10:58:06 [debug] Moves scheduled 10728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:06 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20743, writes 0 timeouts 0
2025-04-24 10:58:06 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37174
2025-04-24 10:58:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:06 [info] currentZPosition:0.0903
2025-04-24 10:58:06 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:07 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:07 [debug] Diagnostics for board 50:
2025-04-24 10:58:07 [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 10:58:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:12 ago, cause: software
2025-04-24 10:58:07 [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 10:58:07 [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 10:58:07 [debug] Moves scheduled 10734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:07 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20651, writes 0 timeouts 0
2025-04-24 10:58:07 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36169/37174
2025-04-24 10:58:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:07 [info] currentZPosition:0.0896
2025-04-24 10:58:09 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:09 [debug] Diagnostics for board 50:
2025-04-24 10:58:09 [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 10:58:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:14 ago, cause: software
2025-04-24 10:58:09 [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 10:58:09 [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 10:58:09 [debug] Moves scheduled 10738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 107, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:09 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16980, writes 0 timeouts 0
2025-04-24 10:58:09 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36095/37176
2025-04-24 10:58:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:09 [info] currentZPosition:0.0902
2025-04-24 10:58:10 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:10 [debug] Diagnostics for board 50:
2025-04-24 10:58:10 [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 10:58:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:00:15 ago, cause: software
2025-04-24 10:58:10 [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 10:58:10 [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 10:58:10 [debug] Moves scheduled 10742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 105, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:10 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16873, writes 0 timeouts 0
2025-04-24 10:58:10 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37178
2025-04-24 10:58:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:10 [info] currentZPosition:0.0894
2025-04-24 10:58:11 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:11 [debug] Diagnostics for board 50:
2025-04-24 10:58:11 [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 10:58:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:16 ago, cause: software
2025-04-24 10:58:11 [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 10:58:11 [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 10:58:11 [debug] Moves scheduled 10746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 101, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:11 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17065, writes 0 timeouts 0
2025-04-24 10:58:11 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37177
2025-04-24 10:58:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:12 [info] currentZPosition:0.0897
2025-04-24 10:58:13 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:13 [debug] Diagnostics for board 50:
2025-04-24 10:58:13 [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 10:58:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:18 ago, cause: software
2025-04-24 10:58:13 [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 10:58:13 [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 10:58:13 [debug] Moves scheduled 10750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 97, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:13 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16764, writes 0 timeouts 0
2025-04-24 10:58:13 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36153/37178
2025-04-24 10:58:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:13 [info] currentZPosition:0.0891
2025-04-24 10:58:14 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:14 [debug] Diagnostics for board 50:
2025-04-24 10:58:14 [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 10:58:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:19 ago, cause: software
2025-04-24 10:58:14 [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 10:58:14 [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 10:58:14 [debug] Moves scheduled 10754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:14 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16999, writes 0 timeouts 0
2025-04-24 10:58:14 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37177
2025-04-24 10:58:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:14 [info] currentZPosition:0.0897
2025-04-24 10:58:16 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:16 [debug] Diagnostics for board 50:
2025-04-24 10:58:16 [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 10:58:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:20 ago, cause: software
2025-04-24 10:58:16 [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 10:58:16 [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 10:58:16 [debug] Moves scheduled 10758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 78, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:58:16 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16867, writes 0 timeouts 0
2025-04-24 10:58:16 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36163/37172
2025-04-24 10:58:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:16 [info] currentZPosition:0.0888
2025-04-24 10:58:17 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:17 [debug] Diagnostics for board 50:
2025-04-24 10:58:17 [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 10:58:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:22 ago, cause: software
2025-04-24 10:58:17 [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 10:58:17 [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 10:58:17 [debug] Moves scheduled 10762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6355, max=17857
Sync err accum 65, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:17 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16546, writes 0 timeouts 0
2025-04-24 10:58:17 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36113/37177
2025-04-24 10:58:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:17 [info] currentZPosition:0.0908
2025-04-24 10:58:17 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:19 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:19 [debug] Diagnostics for board 50:
2025-04-24 10:58:19 [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 10:58:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:23 ago, cause: software
2025-04-24 10:58:19 [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 10:58:19 [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 10:58:19 [debug] Moves scheduled 10768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 68, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:19 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20566, writes 0 timeouts 0
2025-04-24 10:58:19 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37177
2025-04-24 10:58:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:19 [info] currentZPosition:0.0905
2025-04-24 10:58:20 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:20 [debug] Diagnostics for board 50:
2025-04-24 10:58:20 [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 10:58:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:25 ago, cause: software
2025-04-24 10:58:20 [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 10:58:20 [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 10:58:20 [debug] Moves scheduled 10772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 73, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:58:20 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17128, writes 0 timeouts 0
2025-04-24 10:58:20 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37172
2025-04-24 10:58:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:20 [info] currentZPosition:0.0907
2025-04-24 10:58:21 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:21 [debug] Diagnostics for board 50:
2025-04-24 10:58:21 [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 10:58:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:26 ago, cause: software
2025-04-24 10:58:21 [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 10:58:21 [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 10:58:21 [debug] Moves scheduled 10776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:58:21 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16598, writes 0 timeouts 0
2025-04-24 10:58:21 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37177
2025-04-24 10:58:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:21 [info] currentZPosition:0.0908
2025-04-24 10:58:23 [debug] Stopped at height 0.088 mm
2025-04-24 10:58:23 [debug] Diagnostics for board 50:
2025-04-24 10:58:23 [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 10:58:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:27 ago, cause: software
2025-04-24 10:58:23 [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 10:58:23 [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 10:58:23 [debug] Moves scheduled 10780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6521, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:23 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 18028, writes 0 timeouts 0
2025-04-24 10:58:23 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37175
2025-04-24 10:58:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:23 [info] currentZPosition:0.0882
2025-04-24 10:58:23 [debug] Stopped at height 0.087 mm
2025-04-24 10:58:24 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:24 [debug] Diagnostics for board 50:
2025-04-24 10:58:24 [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 10:58:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:29 ago, cause: software
2025-04-24 10:58:24 [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 10:58:24 [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 10:58:24 [debug] Moves scheduled 10786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 78, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:24 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20064, writes 0 timeouts 0
2025-04-24 10:58:24 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36403/37177
2025-04-24 10:58:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:24 [info] currentZPosition:0.0903
2025-04-24 10:58:25 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:26 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:26 [debug] Diagnostics for board 50:
2025-04-24 10:58:26 [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 10:58:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:31 ago, cause: software
2025-04-24 10:58:26 [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 10:58:26 [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 10:58:26 [debug] Moves scheduled 10792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:26 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21245, writes 0 timeouts 0
2025-04-24 10:58:26 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37177
2025-04-24 10:58:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:26 [info] currentZPosition:0.0904
2025-04-24 10:58:27 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:27 [debug] Diagnostics for board 50:
2025-04-24 10:58:27 [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 10:58:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:32 ago, cause: software
2025-04-24 10:58:27 [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 10:58:27 [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 10:58:27 [debug] Moves scheduled 10796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:27 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17139, writes 0 timeouts 0
2025-04-24 10:58:27 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37178
2025-04-24 10:58:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:27 [info] currentZPosition:0.0888
2025-04-24 10:58:28 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:29 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:29 [debug] Diagnostics for board 50:
2025-04-24 10:58:29 [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 10:58:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:34 ago, cause: software
2025-04-24 10:58:29 [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 10:58:29 [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 10:58:29 [debug] Moves scheduled 10802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 68, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:29 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 20674, writes 0 timeouts 0
2025-04-24 10:58:29 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37177
2025-04-24 10:58:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:29 [info] currentZPosition:0.0899
2025-04-24 10:58:30 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:30 [debug] Diagnostics for board 50:
2025-04-24 10:58:30 [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 10:58:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:35 ago, cause: software
2025-04-24 10:58:30 [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 10:58:30 [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 10:58:30 [debug] Moves scheduled 10806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6302, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:30 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16750, writes 0 timeouts 0
2025-04-24 10:58:30 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37173
2025-04-24 10:58:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:30 [info] currentZPosition:0.0895
2025-04-24 10:58:32 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:32 [debug] Diagnostics for board 50:
2025-04-24 10:58:32 [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 10:58:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:36 ago, cause: software
2025-04-24 10:58:32 [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 10:58:32 [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 10:58:32 [debug] Moves scheduled 10810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 78, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:32 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16799, writes 0 timeouts 0
2025-04-24 10:58:32 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36103/37174
2025-04-24 10:58:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:32 [info] currentZPosition:0.0907
2025-04-24 10:58:33 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:33 [debug] Diagnostics for board 50:
2025-04-24 10:58:33 [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 10:58:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:38 ago, cause: software
2025-04-24 10:58:33 [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 10:58:33 [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 10:58:33 [debug] Moves scheduled 10814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6818, max=17857
Sync err accum 78, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:33 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16603, writes 0 timeouts 0
2025-04-24 10:58:33 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37176
2025-04-24 10:58:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8767, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:33 [info] currentZPosition:0.0906
2025-04-24 10:58:34 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:34 [debug] Diagnostics for board 50:
2025-04-24 10:58:34 [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 10:58:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:39 ago, cause: software
2025-04-24 10:58:34 [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 10:58:34 [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 10:58:34 [debug] Moves scheduled 10818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17857
Sync err accum 77, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:34 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17230, writes 0 timeouts 0
2025-04-24 10:58:34 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 10:58:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:34 [info] currentZPosition:0.0904
2025-04-24 10:58:36 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:36 [debug] Diagnostics for board 50:
2025-04-24 10:58:36 [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 10:58:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:41 ago, cause: software
2025-04-24 10:58:36 [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 10:58:36 [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 10:58:36 [debug] Moves scheduled 10822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:36 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16350, writes 0 timeouts 0
2025-04-24 10:58:36 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36404/37176
2025-04-24 10:58:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:36 [info] currentZPosition:0.0912
2025-04-24 10:58:37 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:37 [debug] Diagnostics for board 50:
2025-04-24 10:58:37 [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 10:58:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:42 ago, cause: software
2025-04-24 10:58:37 [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 10:58:37 [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 10:58:37 [debug] Moves scheduled 10826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:58:37 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17416, writes 0 timeouts 0
2025-04-24 10:58:37 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36097/37176
2025-04-24 10:58:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:37 [info] currentZPosition:0.0905
2025-04-24 10:58:38 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:38 [debug] Diagnostics for board 50:
2025-04-24 10:58:38 [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 10:58:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:43 ago, cause: software
2025-04-24 10:58:38 [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 10:58:38 [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 10:58:38 [debug] Moves scheduled 10830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:38 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16387, writes 0 timeouts 0
2025-04-24 10:58:38 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37174
2025-04-24 10:58:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:38 [info] currentZPosition:0.0912
2025-04-24 10:58:40 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:40 [debug] Diagnostics for board 50:
2025-04-24 10:58:40 [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 10:58:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:45 ago, cause: software
2025-04-24 10:58:40 [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 10:58:40 [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 10:58:40 [debug] Moves scheduled 10834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=6465, max=17857
Sync err accum 67, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:40 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17863, writes 0 timeouts 0
2025-04-24 10:58:40 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37170
2025-04-24 10:58:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:40 [info] currentZPosition:0.0889
2025-04-24 10:58:40 [debug] Stopped at height 0.088 mm
2025-04-24 10:58:41 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:41 [debug] Diagnostics for board 50:
2025-04-24 10:58:41 [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 10:58:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:46 ago, cause: software
2025-04-24 10:58:41 [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 10:58:41 [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 10:58:41 [debug] Moves scheduled 10840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:41 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20092, writes 0 timeouts 0
2025-04-24 10:58:41 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37176
2025-04-24 10:58:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:42 [info] currentZPosition:0.0908
2025-04-24 10:58:42 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:43 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:43 [debug] Diagnostics for board 50:
2025-04-24 10:58:43 [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 10:58:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:48 ago, cause: software
2025-04-24 10:58:43 [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 10:58:43 [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 10:58:43 [debug] Moves scheduled 10846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 63, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:43 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 21100, writes 0 timeouts 0
2025-04-24 10:58:43 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36103/37175
2025-04-24 10:58:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:43 [info] currentZPosition:0.0908
2025-04-24 10:58:44 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:44 [debug] Diagnostics for board 50:
2025-04-24 10:58:44 [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 10:58:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:49 ago, cause: software
2025-04-24 10:58:44 [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 10:58:44 [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 10:58:44 [debug] Moves scheduled 10850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 65, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:44 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17010, writes 0 timeouts 0
2025-04-24 10:58:44 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37177
2025-04-24 10:58:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:45 [info] currentZPosition:0.0894
2025-04-24 10:58:45 [debug] Stopped at height 0.089 mm
2025-04-24 10:58:46 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:46 [debug] Diagnostics for board 50:
2025-04-24 10:58:46 [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 10:58:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:51 ago, cause: software
2025-04-24 10:58:46 [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 10:58:46 [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 10:58:46 [debug] Moves scheduled 10856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 66, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:46 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20777, writes 0 timeouts 0
2025-04-24 10:58:46 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36101/37177
2025-04-24 10:58:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:46 [info] currentZPosition:0.0908
2025-04-24 10:58:47 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:48 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:48 [debug] Diagnostics for board 50:
2025-04-24 10:58:48 [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 10:58:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:53 ago, cause: software
2025-04-24 10:58:48 [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 10:58:48 [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 10:58:48 [debug] Moves scheduled 10862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=17857
Sync err accum 65, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:48 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20585, writes 0 timeouts 0
2025-04-24 10:58:48 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37175
2025-04-24 10:58:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:48 [info] currentZPosition:0.0906
2025-04-24 10:58:49 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:49 [debug] Diagnostics for board 50:
2025-04-24 10:58:49 [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 10:58:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:54 ago, cause: software
2025-04-24 10:58:49 [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 10:58:49 [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 10:58:49 [debug] Moves scheduled 10866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:49 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17118, writes 0 timeouts 0
2025-04-24 10:58:49 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37172
2025-04-24 10:58:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:49 [info] currentZPosition:0.0908
2025-04-24 10:58:51 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:51 [debug] Diagnostics for board 50:
2025-04-24 10:58:51 [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 10:58:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:55 ago, cause: software
2025-04-24 10:58:51 [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 10:58:51 [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 10:58:51 [debug] Moves scheduled 10870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 73, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:58:51 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16994, writes 0 timeouts 0
2025-04-24 10:58:51 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37175
2025-04-24 10:58:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:51 [info] currentZPosition:0.0897
2025-04-24 10:58:52 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:52 [debug] Diagnostics for board 50:
2025-04-24 10:58:52 [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 10:58:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:57 ago, cause: software
2025-04-24 10:58:52 [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 10:58:52 [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 10:58:52 [debug] Moves scheduled 10874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294929083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:58:52 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17146, writes 0 timeouts 0
2025-04-24 10:58:52 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37176
2025-04-24 10:58:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:52 [info] currentZPosition:0.0900
2025-04-24 10:58:53 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:53 [debug] Diagnostics for board 50:
2025-04-24 10:58:53 [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 10:58:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:58 ago, cause: software
2025-04-24 10:58:53 [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 10:58:53 [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 10:58:53 [debug] Moves scheduled 10878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6302, max=17857
Sync err accum 78, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:53 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16297, writes 0 timeouts 0
2025-04-24 10:58:53 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37177
2025-04-24 10:58:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:53 [info] currentZPosition:0.0910
2025-04-24 10:58:55 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:55 [debug] Diagnostics for board 50:
2025-04-24 10:58:55 [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 10:58:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:00:59 ago, cause: software
2025-04-24 10:58:55 [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 10:58:55 [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 10:58:55 [debug] Moves scheduled 10882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 81, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:58:55 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17161, writes 0 timeouts 0
2025-04-24 10:58:55 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36106/37176
2025-04-24 10:58:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:55 [info] currentZPosition:0.0913
2025-04-24 10:58:56 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:56 [debug] Diagnostics for board 50:
2025-04-24 10:58:56 [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 10:58:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:01 ago, cause: software
2025-04-24 10:58:56 [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 10:58:56 [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 10:58:56 [debug] Moves scheduled 10886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:58:56 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16945, writes 0 timeouts 0
2025-04-24 10:58:56 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37176
2025-04-24 10:58:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:56 [info] currentZPosition:0.0903
2025-04-24 10:58:57 [debug] Stopped at height 0.091 mm
2025-04-24 10:58:57 [debug] Diagnostics for board 50:
2025-04-24 10:58:57 [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 10:58:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:02 ago, cause: software
2025-04-24 10:58:57 [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 10:58:57 [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 10:58:57 [debug] Moves scheduled 10890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:57 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17030, writes 0 timeouts 0
2025-04-24 10:58:57 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37177
2025-04-24 10:58:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:57 [info] currentZPosition:0.0909
2025-04-24 10:58:59 [debug] Stopped at height 0.090 mm
2025-04-24 10:58:59 [debug] Diagnostics for board 50:
2025-04-24 10:58:59 [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 10:58:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:03 ago, cause: software
2025-04-24 10:58:59 [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 10:58:59 [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 10:58:59 [debug] Moves scheduled 10894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:58:59 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16969, writes 0 timeouts 0
2025-04-24 10:58:59 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37175
2025-04-24 10:58:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:58:59 [info] currentZPosition:0.0898
2025-04-24 10:59:00 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:00 [debug] Diagnostics for board 50:
2025-04-24 10:59:00 [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 10:59:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:05 ago, cause: software
2025-04-24 10:59:00 [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 10:59:00 [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 10:59:00 [debug] Moves scheduled 10898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=564, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:00 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16762, writes 11 timeouts 1
2025-04-24 10:59:00 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36093/37178
2025-04-24 10:59:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:00 [info] currentZPosition:0.0909
2025-04-24 10:59:01 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:01 [debug] Diagnostics for board 50:
2025-04-24 10:59:01 [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 10:59:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:06 ago, cause: software
2025-04-24 10:59:01 [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 10:59:01 [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 10:59:01 [debug] Moves scheduled 10902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 75, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:01 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16858, writes 0 timeouts 0
2025-04-24 10:59:01 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36401/37173
2025-04-24 10:59:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:01 [info] currentZPosition:0.0901
2025-04-24 10:59:03 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:03 [debug] Diagnostics for board 50:
2025-04-24 10:59:03 [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 10:59:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:08 ago, cause: software
2025-04-24 10:59:03 [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 10:59:03 [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 10:59:03 [debug] Moves scheduled 10906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:03 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17162, writes 0 timeouts 0
2025-04-24 10:59:03 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37175
2025-04-24 10:59:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:03 [info] currentZPosition:0.0903
2025-04-24 10:59:04 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:04 [debug] Diagnostics for board 50:
2025-04-24 10:59:04 [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 10:59:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:09 ago, cause: software
2025-04-24 10:59:04 [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 10:59:04 [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 10:59:04 [debug] Moves scheduled 10910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 83, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:04 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16317, writes 0 timeouts 0
2025-04-24 10:59:04 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36400/37175
2025-04-24 10:59:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:04 [info] currentZPosition:0.0914
2025-04-24 10:59:05 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:05 [debug] Diagnostics for board 50:
2025-04-24 10:59:05 [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 10:59:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:10 ago, cause: software
2025-04-24 10:59:05 [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 10:59:05 [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 10:59:05 [debug] Moves scheduled 10914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7009, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:05 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17455, writes 0 timeouts 0
2025-04-24 10:59:05 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 10:59:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:05 [info] currentZPosition:0.0902
2025-04-24 10:59:07 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:07 [debug] Diagnostics for board 50:
2025-04-24 10:59:07 [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 10:59:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:12 ago, cause: software
2025-04-24 10:59:07 [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 10:59:07 [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 10:59:07 [debug] Moves scheduled 10918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=18292
Sync err accum 79, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:07 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16574, writes 0 timeouts 0
2025-04-24 10:59:07 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37174
2025-04-24 10:59:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:07 [info] currentZPosition:0.0903
2025-04-24 10:59:08 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:08 [debug] Diagnostics for board 50:
2025-04-24 10:59:08 [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 10:59:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:13 ago, cause: software
2025-04-24 10:59:08 [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 10:59:08 [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 10:59:08 [debug] Moves scheduled 10922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6410, max=17045
Sync err accum 75, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:08 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17043, writes 0 timeouts 0
2025-04-24 10:59:08 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37175
2025-04-24 10:59:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:08 [info] currentZPosition:0.0909
2025-04-24 10:59:09 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:09 [debug] Diagnostics for board 50:
2025-04-24 10:59:09 [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 10:59:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:14 ago, cause: software
2025-04-24 10:59:09 [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 10:59:09 [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 10:59:09 [debug] Moves scheduled 10926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 71, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:09 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16704, writes 0 timeouts 0
2025-04-24 10:59:09 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36384/37175
2025-04-24 10:59:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:10 [info] currentZPosition:0.0904
2025-04-24 10:59:11 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:11 [debug] Diagnostics for board 50:
2025-04-24 10:59:11 [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 10:59:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:16 ago, cause: software
2025-04-24 10:59:11 [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 10:59:11 [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 10:59:11 [debug] Moves scheduled 10930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:11 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17350, writes 0 timeouts 0
2025-04-24 10:59:11 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37179
2025-04-24 10:59:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:11 [info] currentZPosition:0.0898
2025-04-24 10:59:12 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:12 [debug] Diagnostics for board 50:
2025-04-24 10:59:12 [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 10:59:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:17 ago, cause: software
2025-04-24 10:59:12 [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 10:59:12 [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 10:59:12 [debug] Moves scheduled 10934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:12 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16271, writes 0 timeouts 0
2025-04-24 10:59:12 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36281/37173
2025-04-24 10:59:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:12 [info] currentZPosition:0.0909
2025-04-24 10:59:14 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:14 [debug] Diagnostics for board 50:
2025-04-24 10:59:14 [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 10:59:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:18 ago, cause: software
2025-04-24 10:59:14 [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 10:59:14 [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 10:59:14 [debug] Moves scheduled 10938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6521, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:14 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17098, writes 0 timeouts 0
2025-04-24 10:59:14 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37174
2025-04-24 10:59:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:14 [info] currentZPosition:0.0910
2025-04-24 10:59:15 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:15 [debug] Diagnostics for board 50:
2025-04-24 10:59:15 [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 10:59:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:20 ago, cause: software
2025-04-24 10:59:15 [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 10:59:15 [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 10:59:15 [debug] Moves scheduled 10942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6198, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:15 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16392, writes 0 timeouts 0
2025-04-24 10:59:15 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36167/37175
2025-04-24 10:59:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:15 [info] currentZPosition:0.0915
2025-04-24 10:59:16 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:16 [debug] Diagnostics for board 50:
2025-04-24 10:59:16 [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 10:59:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:21 ago, cause: software
2025-04-24 10:59:16 [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 10:59:16 [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 10:59:16 [debug] Moves scheduled 10946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:16 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17534, writes 0 timeouts 0
2025-04-24 10:59:16 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36095/37175
2025-04-24 10:59:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:16 [info] currentZPosition:0.0905
2025-04-24 10:59:18 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:18 [debug] Diagnostics for board 50:
2025-04-24 10:59:18 [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 10:59:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:22 ago, cause: software
2025-04-24 10:59:18 [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 10:59:18 [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 10:59:18 [debug] Moves scheduled 10950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 95, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:18 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16222, writes 0 timeouts 0
2025-04-24 10:59:18 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37177
2025-04-24 10:59:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8750, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:18 [info] currentZPosition:0.0916
2025-04-24 10:59:19 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:19 [debug] Diagnostics for board 50:
2025-04-24 10:59:19 [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 10:59:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:24 ago, cause: software
2025-04-24 10:59:19 [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 10:59:19 [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 10:59:19 [debug] Moves scheduled 10954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:19 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17722, writes 0 timeouts 0
2025-04-24 10:59:19 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37176
2025-04-24 10:59:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:19 [info] currentZPosition:0.0899
2025-04-24 10:59:19 [debug] Stopped at height 0.088 mm
2025-04-24 10:59:21 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:21 [debug] Diagnostics for board 50:
2025-04-24 10:59:21 [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 10:59:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:25 ago, cause: software
2025-04-24 10:59:21 [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 10:59:21 [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 10:59:21 [debug] Moves scheduled 10960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5859, max=17045
Sync err accum 93, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294934930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 10:59:21 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 20710, writes 0 timeouts 0
2025-04-24 10:59:21 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36148/37177
2025-04-24 10:59:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:21 [info] currentZPosition:0.0900
2025-04-24 10:59:22 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:22 [debug] Diagnostics for board 50:
2025-04-24 10:59:22 [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 10:59:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:27 ago, cause: software
2025-04-24 10:59:22 [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 10:59:22 [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 10:59:22 [debug] Moves scheduled 10964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:22 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16686, writes 0 timeouts 0
2025-04-24 10:59:22 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37175
2025-04-24 10:59:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:22 [info] currentZPosition:0.0915
2025-04-24 10:59:22 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:24 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:24 [debug] Diagnostics for board 50:
2025-04-24 10:59:24 [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 10:59:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:28 ago, cause: software
2025-04-24 10:59:24 [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 10:59:24 [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 10:59:24 [debug] Moves scheduled 10970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:24 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20795, writes 0 timeouts 0
2025-04-24 10:59:24 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36166/37178
2025-04-24 10:59:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:24 [info] currentZPosition:0.0906
2025-04-24 10:59:25 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:25 [debug] Diagnostics for board 50:
2025-04-24 10:59:25 [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 10:59:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:30 ago, cause: software
2025-04-24 10:59:25 [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 10:59:25 [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 10:59:25 [debug] Moves scheduled 10974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 68, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:25 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17008, writes 0 timeouts 0
2025-04-24 10:59:25 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36111/37179
2025-04-24 10:59:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:25 [info] currentZPosition:0.0911
2025-04-24 10:59:26 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:26 [debug] Diagnostics for board 50:
2025-04-24 10:59:26 [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 10:59:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:31 ago, cause: software
2025-04-24 10:59:26 [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 10:59:26 [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 10:59:26 [debug] Moves scheduled 10978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 60, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:26 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16559, writes 0 timeouts 0
2025-04-24 10:59:26 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37178
2025-04-24 10:59:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:26 [info] currentZPosition:0.0913
2025-04-24 10:59:28 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:28 [debug] Diagnostics for board 50:
2025-04-24 10:59:28 [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 10:59:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:32 ago, cause: software
2025-04-24 10:59:28 [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 10:59:28 [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 10:59:28 [debug] Moves scheduled 10982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 72, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294929578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:28 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17347, writes 0 timeouts 0
2025-04-24 10:59:28 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37171
2025-04-24 10:59:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:28 [info] currentZPosition:0.0908
2025-04-24 10:59:29 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:29 [debug] Diagnostics for board 50:
2025-04-24 10:59:29 [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 10:59:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:34 ago, cause: software
2025-04-24 10:59:29 [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 10:59:29 [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 10:59:29 [debug] Moves scheduled 10986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:29 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16516, writes 0 timeouts 0
2025-04-24 10:59:29 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37174
2025-04-24 10:59:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:29 [info] currentZPosition:0.0910
2025-04-24 10:59:30 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:30 [debug] Diagnostics for board 50:
2025-04-24 10:59:30 [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 10:59:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:35 ago, cause: software
2025-04-24 10:59:30 [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 10:59:30 [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 10:59:30 [debug] Moves scheduled 10990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17857
Sync err accum 86, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:30 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17337, writes 0 timeouts 0
2025-04-24 10:59:30 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37174
2025-04-24 10:59:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:30 [info] currentZPosition:0.0904
2025-04-24 10:59:32 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:32 [debug] Diagnostics for board 50:
2025-04-24 10:59:32 [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 10:59:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:37 ago, cause: software
2025-04-24 10:59:32 [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 10:59:32 [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 10:59:32 [debug] Moves scheduled 10994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 88, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:32 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16646, writes 0 timeouts 0
2025-04-24 10:59:32 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37170
2025-04-24 10:59:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:32 [info] currentZPosition:0.0902
2025-04-24 10:59:33 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:33 [debug] Diagnostics for board 50:
2025-04-24 10:59:33 [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 10:59:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:38 ago, cause: software
2025-04-24 10:59:33 [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 10:59:33 [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 10:59:33 [debug] Moves scheduled 10998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
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 4294931095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:33 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16849, writes 0 timeouts 0
2025-04-24 10:59:33 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 10:59:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:33 [info] currentZPosition:0.0914
2025-04-24 10:59:34 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:34 [debug] Diagnostics for board 50:
2025-04-24 10:59:34 [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 10:59:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:39 ago, cause: software
2025-04-24 10:59:34 [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 10:59:34 [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 10:59:34 [debug] Moves scheduled 11002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6756, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:34 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16773, writes 0 timeouts 0
2025-04-24 10:59:34 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37178
2025-04-24 10:59:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:34 [info] currentZPosition:0.0907
2025-04-24 10:59:36 [debug] Stopped at height 0.089 mm
2025-04-24 10:59:36 [debug] Diagnostics for board 50:
2025-04-24 10:59:36 [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 10:59:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:41 ago, cause: software
2025-04-24 10:59:36 [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 10:59:36 [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 10:59:36 [debug] Moves scheduled 11006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 81, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:36 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17623, writes 0 timeouts 0
2025-04-24 10:59:36 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37174
2025-04-24 10:59:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:36 [info] currentZPosition:0.0892
2025-04-24 10:59:36 [debug] Stopped at height 0.089 mm
2025-04-24 10:59:37 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:37 [debug] Diagnostics for board 50:
2025-04-24 10:59:37 [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 10:59:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:42 ago, cause: software
2025-04-24 10:59:37 [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 10:59:37 [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 10:59:37 [debug] Moves scheduled 11012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 69, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 10:59:37 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 19683, writes 0 timeouts 0
2025-04-24 10:59:37 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37178
2025-04-24 10:59:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:37 [info] currentZPosition:0.0918
2025-04-24 10:59:38 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:39 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:39 [debug] Diagnostics for board 50:
2025-04-24 10:59:39 [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 10:59:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:44 ago, cause: software
2025-04-24 10:59:39 [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 10:59:39 [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 10:59:39 [debug] Moves scheduled 11018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 65, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:39 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20994, writes 0 timeouts 0
2025-04-24 10:59:39 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37179
2025-04-24 10:59:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:39 [info] currentZPosition:0.0920
2025-04-24 10:59:40 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:40 [debug] Diagnostics for board 50:
2025-04-24 10:59:40 [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 10:59:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:45 ago, cause: software
2025-04-24 10:59:40 [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 10:59:40 [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 10:59:40 [debug] Moves scheduled 11022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6756, max=17857
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:40 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16925, writes 0 timeouts 0
2025-04-24 10:59:40 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37173
2025-04-24 10:59:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:40 [info] currentZPosition:0.0910
2025-04-24 10:59:42 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:42 [debug] Diagnostics for board 50:
2025-04-24 10:59:42 [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 10:59:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:47 ago, cause: software
2025-04-24 10:59:42 [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 10:59:42 [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 10:59:42 [debug] Moves scheduled 11026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:42 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17033, writes 0 timeouts 0
2025-04-24 10:59:42 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37177
2025-04-24 10:59:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:42 [info] currentZPosition:0.0914
2025-04-24 10:59:43 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:43 [debug] Diagnostics for board 50:
2025-04-24 10:59:43 [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 10:59:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:48 ago, cause: software
2025-04-24 10:59:43 [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 10:59:43 [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 10:59:43 [debug] Moves scheduled 11030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:43 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16684, writes 0 timeouts 0
2025-04-24 10:59:43 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36164/37175
2025-04-24 10:59:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:43 [info] currentZPosition:0.0911
2025-04-24 10:59:45 [debug] Stopped at height 0.089 mm
2025-04-24 10:59:45 [debug] Diagnostics for board 50:
2025-04-24 10:59:45 [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 10:59:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:49 ago, cause: software
2025-04-24 10:59:45 [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 10:59:45 [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 10:59:45 [debug] Moves scheduled 11034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 79, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:45 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17716, writes 0 timeouts 0
2025-04-24 10:59:45 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37174
2025-04-24 10:59:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:45 [info] currentZPosition:0.0893
2025-04-24 10:59:45 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:46 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:46 [debug] Diagnostics for board 50:
2025-04-24 10:59:46 [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 10:59:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:51 ago, cause: software
2025-04-24 10:59:46 [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 10:59:46 [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 10:59:46 [debug] Moves scheduled 11040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17857
Sync err accum 82, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:46 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 19815, writes 0 timeouts 0
2025-04-24 10:59:46 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36161/37174
2025-04-24 10:59:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:46 [info] currentZPosition:0.0915
2025-04-24 10:59:47 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:48 [debug] Diagnostics for board 50:
2025-04-24 10:59:48 [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 10:59:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:52 ago, cause: software
2025-04-24 10:59:48 [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 10:59:48 [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 10:59:48 [debug] Moves scheduled 11044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 81, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:48 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17055, writes 0 timeouts 0
2025-04-24 10:59:48 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37173
2025-04-24 10:59:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:48 [info] currentZPosition:0.0920
2025-04-24 10:59:49 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:49 [debug] Diagnostics for board 50:
2025-04-24 10:59:49 [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 10:59:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:54 ago, cause: software
2025-04-24 10:59:49 [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 10:59:49 [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 10:59:49 [debug] Moves scheduled 11048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6302, max=18292
Sync err accum 77, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:49 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17094, writes 0 timeouts 0
2025-04-24 10:59:49 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37175
2025-04-24 10:59:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:49 [info] currentZPosition:0.0904
2025-04-24 10:59:49 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:51 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:51 [debug] Diagnostics for board 50:
2025-04-24 10:59:51 [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 10:59:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:55 ago, cause: software
2025-04-24 10:59:51 [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 10:59:51 [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 10:59:51 [debug] Moves scheduled 11054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 67, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 10:59:51 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20899, writes 0 timeouts 0
2025-04-24 10:59:51 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 10:59:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:51 [info] currentZPosition:0.0911
2025-04-24 10:59:52 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:52 [debug] Diagnostics for board 50:
2025-04-24 10:59:52 [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 10:59:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:57 ago, cause: software
2025-04-24 10:59:52 [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 10:59:52 [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 10:59:52 [debug] Moves scheduled 11058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=544, max=17857
Sync err accum 66, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:52 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16651, writes 11 timeouts 1
2025-04-24 10:59:52 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37175
2025-04-24 10:59:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:52 [info] currentZPosition:0.0908
2025-04-24 10:59:53 [debug] Stopped at height 0.092 mm
2025-04-24 10:59:53 [debug] Diagnostics for board 50:
2025-04-24 10:59:53 [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 10:59:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:58 ago, cause: software
2025-04-24 10:59:53 [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 10:59:53 [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 10:59:53 [debug] Moves scheduled 11062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294929308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:53 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16975, writes 0 timeouts 0
2025-04-24 10:59:53 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 10:59:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:53 [info] currentZPosition:0.0917
2025-04-24 10:59:55 [debug] Stopped at height 0.093 mm
2025-04-24 10:59:55 [debug] Diagnostics for board 50:
2025-04-24 10:59:55 [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 10:59:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:01:59 ago, cause: software
2025-04-24 10:59:55 [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 10:59:55 [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 10:59:55 [debug] Moves scheduled 11066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:55 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16275, writes 0 timeouts 0
2025-04-24 10:59:55 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37174
2025-04-24 10:59:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:55 [info] currentZPosition:0.0927
2025-04-24 10:59:56 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:56 [debug] Diagnostics for board 50:
2025-04-24 10:59:56 [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 10:59:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:01 ago, cause: software
2025-04-24 10:59:56 [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 10:59:56 [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 10:59:56 [debug] Moves scheduled 11070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7142, max=17857
Sync err accum 82, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 10:59:56 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17918, writes 0 timeouts 0
2025-04-24 10:59:56 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37174
2025-04-24 10:59:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:56 [info] currentZPosition:0.0904
2025-04-24 10:59:56 [debug] Stopped at height 0.090 mm
2025-04-24 10:59:58 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:58 [debug] Diagnostics for board 50:
2025-04-24 10:59:58 [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 10:59:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:02 ago, cause: software
2025-04-24 10:59:58 [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 10:59:58 [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 10:59:58 [debug] Moves scheduled 11076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:58 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20153, writes 0 timeouts 0
2025-04-24 10:59:58 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37177
2025-04-24 10:59:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:58 [info] currentZPosition:0.0913
2025-04-24 10:59:59 [debug] Stopped at height 0.091 mm
2025-04-24 10:59:59 [debug] Diagnostics for board 50:
2025-04-24 10:59:59 [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 10:59:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:04 ago, cause: software
2025-04-24 10:59:59 [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 10:59:59 [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 10:59:59 [debug] Moves scheduled 11080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17857
Sync err accum 80, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 10:59:59 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17362, writes 0 timeouts 0
2025-04-24 10:59:59 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37173
2025-04-24 10:59:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 10:59:59 [info] currentZPosition:0.0906
2025-04-24 11:00:00 [debug] Stopped at height 0.090 mm
2025-04-24 11:00:00 [debug] Diagnostics for board 50:
2025-04-24 11:00:00 [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 11:00:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:05 ago, cause: software
2025-04-24 11:00:00 [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 11:00:00 [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 11:00:00 [debug] Moves scheduled 11084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 74, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:00 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16712, writes 0 timeouts 0
2025-04-24 11:00:00 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37175
2025-04-24 11:00:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:01 [info] currentZPosition:0.0904
2025-04-24 11:00:02 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:02 [debug] Diagnostics for board 50:
2025-04-24 11:00:02 [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 11:00:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:07 ago, cause: software
2025-04-24 11:00:02 [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 11:00:02 [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 11:00:02 [debug] Moves scheduled 11088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294584542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:02 [debug] Driver 0: pos -3465, 10060.2 steps/mm, standstill, SG min 0, mspos 376, reads 30979, writes 0 timeouts 0
2025-04-24 11:00:02 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37177
2025-04-24 11:00:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:03 [info] currentZPosition:0.0909
2025-04-24 11:00:04 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:04 [debug] Diagnostics for board 50:
2025-04-24 11:00:04 [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 11:00:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:09 ago, cause: software
2025-04-24 11:00:04 [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 11:00:04 [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 11:00:04 [debug] Moves scheduled 11092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:04 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16550, writes 0 timeouts 0
2025-04-24 11:00:04 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37169
2025-04-24 11:00:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:04 [info] currentZPosition:0.0913
2025-04-24 11:00:06 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:06 [debug] Diagnostics for board 50:
2025-04-24 11:00:06 [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 11:00:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:10 ago, cause: software
2025-04-24 11:00:06 [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 11:00:06 [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 11:00:06 [debug] Moves scheduled 11096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:00:06 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17349, writes 0 timeouts 0
2025-04-24 11:00:06 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36106/37175
2025-04-24 11:00:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:06 [info] currentZPosition:0.0907
2025-04-24 11:00:07 [debug] Stopped at height 0.090 mm
2025-04-24 11:00:07 [debug] Diagnostics for board 50:
2025-04-24 11:00:07 [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 11:00:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:12 ago, cause: software
2025-04-24 11:00:07 [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 11:00:07 [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 11:00:07 [debug] Moves scheduled 11100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:00:07 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16708, writes 0 timeouts 0
2025-04-24 11:00:07 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36282/37173
2025-04-24 11:00:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:07 [info] currentZPosition:0.0903
2025-04-24 11:00:08 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:08 [debug] Diagnostics for board 50:
2025-04-24 11:00:08 [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 11:00:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:13 ago, cause: software
2025-04-24 11:00:08 [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 11:00:08 [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 11:00:08 [debug] Moves scheduled 11104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6465, max=17857
Sync err accum 97, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:08 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16766, writes 0 timeouts 0
2025-04-24 11:00:08 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37173
2025-04-24 11:00:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:08 [info] currentZPosition:0.0915
2025-04-24 11:00:09 [debug] Stopped at height 0.090 mm
2025-04-24 11:00:10 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:10 [debug] Diagnostics for board 50:
2025-04-24 11:00:10 [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 11:00:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:15 ago, cause: software
2025-04-24 11:00:10 [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 11:00:10 [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 11:00:10 [debug] Moves scheduled 11110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
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 4294934583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:10 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20362, writes 0 timeouts 0
2025-04-24 11:00:10 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 293, adv 36399/37177
2025-04-24 11:00:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:10 [info] currentZPosition:0.0920
2025-04-24 11:00:10 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:11 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:11 [debug] Diagnostics for board 50:
2025-04-24 11:00:11 [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 11:00:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:16 ago, cause: software
2025-04-24 11:00:11 [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 11:00:11 [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 11:00:11 [debug] Moves scheduled 11116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:11 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21048, writes 0 timeouts 0
2025-04-24 11:00:11 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 11:00:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:12 [info] currentZPosition:0.0922
2025-04-24 11:00:13 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:13 [debug] Diagnostics for board 50:
2025-04-24 11:00:13 [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 11:00:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:18 ago, cause: software
2025-04-24 11:00:13 [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 11:00:13 [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 11:00:13 [debug] Moves scheduled 11120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 100, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:00:13 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16693, writes 0 timeouts 0
2025-04-24 11:00:13 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36396/37177
2025-04-24 11:00:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:13 [info] currentZPosition:0.0919
2025-04-24 11:00:14 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:14 [debug] Diagnostics for board 50:
2025-04-24 11:00:14 [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 11:00:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:19 ago, cause: software
2025-04-24 11:00:14 [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 11:00:14 [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 11:00:14 [debug] Moves scheduled 11124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:14 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17364, writes 0 timeouts 0
2025-04-24 11:00:14 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:00:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:14 [info] currentZPosition:0.0917
2025-04-24 11:00:16 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:16 [debug] Diagnostics for board 50:
2025-04-24 11:00:16 [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 11:00:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:20 ago, cause: software
2025-04-24 11:00:16 [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 11:00:16 [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 11:00:16 [debug] Moves scheduled 11128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:16 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16635, writes 0 timeouts 0
2025-04-24 11:00:16 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37177
2025-04-24 11:00:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:16 [info] currentZPosition:0.0917
2025-04-24 11:00:17 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:17 [debug] Diagnostics for board 50:
2025-04-24 11:00:17 [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 11:00:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:22 ago, cause: software
2025-04-24 11:00:17 [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 11:00:17 [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 11:00:17 [debug] Moves scheduled 11132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5067, max=17045
Sync err accum 78, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:00:17 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17159, writes 0 timeouts 0
2025-04-24 11:00:17 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37175
2025-04-24 11:00:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:17 [info] currentZPosition:0.0916
2025-04-24 11:00:18 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:18 [debug] Diagnostics for board 50:
2025-04-24 11:00:18 [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 11:00:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:23 ago, cause: software
2025-04-24 11:00:18 [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 11:00:18 [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 11:00:18 [debug] Moves scheduled 11136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:18 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16955, writes 0 timeouts 0
2025-04-24 11:00:18 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36407/37178
2025-04-24 11:00:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:18 [info] currentZPosition:0.0906
2025-04-24 11:00:20 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:20 [debug] Diagnostics for board 50:
2025-04-24 11:00:20 [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 11:00:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:24 ago, cause: software
2025-04-24 11:00:20 [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 11:00:20 [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 11:00:20 [debug] Moves scheduled 11140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 66, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:20 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16894, writes 0 timeouts 0
2025-04-24 11:00:20 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37179
2025-04-24 11:00:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:20 [info] currentZPosition:0.0918
2025-04-24 11:00:20 [debug] Stopped at height 0.094 mm
2025-04-24 11:00:20 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:22 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:22 [debug] Diagnostics for board 50:
2025-04-24 11:00:22 [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 11:00:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:26 ago, cause: software
2025-04-24 11:00:22 [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 11:00:22 [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 11:00:22 [debug] Moves scheduled 11148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:00:22 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 24611, writes 0 timeouts 0
2025-04-24 11:00:22 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36400/37175
2025-04-24 11:00:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:22 [info] currentZPosition:0.0917
2025-04-24 11:00:23 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:23 [debug] Diagnostics for board 50:
2025-04-24 11:00:23 [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 11:00:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:28 ago, cause: software
2025-04-24 11:00:23 [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 11:00:23 [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 11:00:23 [debug] Moves scheduled 11152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6410, max=18292
Sync err accum 96, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:00:23 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17271, writes 0 timeouts 0
2025-04-24 11:00:23 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37176
2025-04-24 11:00:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:23 [info] currentZPosition:0.0914
2025-04-24 11:00:24 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:24 [debug] Diagnostics for board 50:
2025-04-24 11:00:24 [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 11:00:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:29 ago, cause: software
2025-04-24 11:00:24 [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 11:00:24 [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 11:00:24 [debug] Moves scheduled 11156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6756, max=17857
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:24 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16370, writes 0 timeouts 0
2025-04-24 11:00:24 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36402/37176
2025-04-24 11:00:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:24 [info] currentZPosition:0.0926
2025-04-24 11:00:26 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:26 [debug] Diagnostics for board 50:
2025-04-24 11:00:26 [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 11:00:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:31 ago, cause: software
2025-04-24 11:00:26 [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 11:00:26 [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 11:00:26 [debug] Moves scheduled 11160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 105, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:26 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17558, writes 0 timeouts 0
2025-04-24 11:00:26 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 11:00:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:26 [info] currentZPosition:0.0913
2025-04-24 11:00:26 [debug] Stopped at height 0.094 mm
2025-04-24 11:00:27 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:27 [debug] Diagnostics for board 50:
2025-04-24 11:00:27 [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 11:00:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:32 ago, cause: software
2025-04-24 11:00:27 [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 11:00:27 [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 11:00:27 [debug] Moves scheduled 11166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6465, max=17045
Sync err accum 113, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294928454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:27 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20562, writes 0 timeouts 0
2025-04-24 11:00:27 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36402/37175
2025-04-24 11:00:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:27 [info] currentZPosition:0.0912
2025-04-24 11:00:28 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:29 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:29 [debug] Diagnostics for board 50:
2025-04-24 11:00:29 [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 11:00:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:34 ago, cause: software
2025-04-24 11:00:29 [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 11:00:29 [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 11:00:29 [debug] Moves scheduled 11172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 112, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:29 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20417, writes 0 timeouts 0
2025-04-24 11:00:29 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36111/37173
2025-04-24 11:00:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:29 [info] currentZPosition:0.0930
2025-04-24 11:00:29 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:31 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:31 [debug] Diagnostics for board 50:
2025-04-24 11:00:31 [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 11:00:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:35 ago, cause: software
2025-04-24 11:00:31 [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 11:00:31 [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 11:00:31 [debug] Moves scheduled 11178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:00:31 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20405, writes 0 timeouts 0
2025-04-24 11:00:31 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37174
2025-04-24 11:00:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:31 [info] currentZPosition:0.0931
2025-04-24 11:00:32 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:32 [debug] Diagnostics for board 50:
2025-04-24 11:00:32 [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 11:00:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:37 ago, cause: software
2025-04-24 11:00:32 [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 11:00:32 [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 11:00:32 [debug] Moves scheduled 11182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17857
Sync err accum 103, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:32 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17397, writes 0 timeouts 0
2025-04-24 11:00:32 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36112/37176
2025-04-24 11:00:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:32 [info] currentZPosition:0.0924
2025-04-24 11:00:33 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:33 [debug] Diagnostics for board 50:
2025-04-24 11:00:33 [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 11:00:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:38 ago, cause: software
2025-04-24 11:00:33 [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 11:00:33 [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 11:00:33 [debug] Moves scheduled 11186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=7009, max=17045
Sync err accum 93, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:33 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16751, writes 0 timeouts 0
2025-04-24 11:00:33 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36394/37178
2025-04-24 11:00:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:33 [info] currentZPosition:0.0921
2025-04-24 11:00:35 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:35 [debug] Diagnostics for board 50:
2025-04-24 11:00:35 [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 11:00:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:39 ago, cause: software
2025-04-24 11:00:35 [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 11:00:35 [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 11:00:35 [debug] Moves scheduled 11190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 84, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:00:35 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16738, writes 0 timeouts 0
2025-04-24 11:00:35 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36113/37175
2025-04-24 11:00:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:35 [info] currentZPosition:0.0933
2025-04-24 11:00:36 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:36 [debug] Diagnostics for board 50:
2025-04-24 11:00:36 [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 11:00:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:41 ago, cause: software
2025-04-24 11:00:36 [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 11:00:36 [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 11:00:36 [debug] Moves scheduled 11194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 69, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:36 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16808, writes 0 timeouts 0
2025-04-24 11:00:36 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37179
2025-04-24 11:00:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:36 [info] currentZPosition:0.0927
2025-04-24 11:00:37 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:37 [debug] Diagnostics for board 50:
2025-04-24 11:00:37 [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 11:00:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:42 ago, cause: software
2025-04-24 11:00:37 [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 11:00:37 [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 11:00:37 [debug] Moves scheduled 11198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7009, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:37 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17174, writes 0 timeouts 0
2025-04-24 11:00:37 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36096/37180
2025-04-24 11:00:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:37 [info] currentZPosition:0.0927
2025-04-24 11:00:39 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:39 [debug] Diagnostics for board 50:
2025-04-24 11:00:39 [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 11:00:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:44 ago, cause: software
2025-04-24 11:00:39 [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 11:00:39 [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 11:00:39 [debug] Moves scheduled 11202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:00:39 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16556, writes 0 timeouts 0
2025-04-24 11:00:39 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36397/37172
2025-04-24 11:00:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:39 [info] currentZPosition:0.0928
2025-04-24 11:00:40 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:40 [debug] Diagnostics for board 50:
2025-04-24 11:00:40 [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 11:00:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:45 ago, cause: software
2025-04-24 11:00:40 [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 11:00:40 [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 11:00:40 [debug] Moves scheduled 11206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6302, max=17045
Sync err accum 89, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:40 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17634, writes 0 timeouts 0
2025-04-24 11:00:40 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 11:00:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:40 [info] currentZPosition:0.0913
2025-04-24 11:00:41 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:42 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:42 [debug] Diagnostics for board 50:
2025-04-24 11:00:42 [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 11:00:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:47 ago, cause: software
2025-04-24 11:00:42 [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 11:00:42 [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 11:00:42 [debug] Moves scheduled 11212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=88, frequency (Hz): min=6696, max=17045
Sync err accum 100, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:42 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20285, writes 0 timeouts 0
2025-04-24 11:00:42 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37173
2025-04-24 11:00:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:42 [info] currentZPosition:0.0921
2025-04-24 11:00:43 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:43 [debug] Diagnostics for board 50:
2025-04-24 11:00:43 [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 11:00:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:48 ago, cause: software
2025-04-24 11:00:43 [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 11:00:43 [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 11:00:43 [debug] Moves scheduled 11216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6465, max=17045
Sync err accum 107, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:43 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16956, writes 0 timeouts 0
2025-04-24 11:00:43 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37170
2025-04-24 11:00:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:43 [info] currentZPosition:0.0928
2025-04-24 11:00:44 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:44 [debug] Diagnostics for board 50:
2025-04-24 11:00:44 [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 11:00:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:49 ago, cause: software
2025-04-24 11:00:44 [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 11:00:44 [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 11:00:44 [debug] Moves scheduled 11220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 111, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:44 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16883, writes 0 timeouts 0
2025-04-24 11:00:44 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37176
2025-04-24 11:00:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:45 [info] currentZPosition:0.0923
2025-04-24 11:00:46 [debug] Stopped at height 0.090 mm
2025-04-24 11:00:46 [debug] Diagnostics for board 50:
2025-04-24 11:00:46 [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 11:00:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:51 ago, cause: software
2025-04-24 11:00:46 [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 11:00:46 [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 11:00:46 [debug] Moves scheduled 11224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:46 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17856, writes 0 timeouts 0
2025-04-24 11:00:46 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 11:00:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:46 [info] currentZPosition:0.0902
2025-04-24 11:00:46 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:48 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:48 [debug] Diagnostics for board 50:
2025-04-24 11:00:48 [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 11:00:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:52 ago, cause: software
2025-04-24 11:00:48 [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 11:00:48 [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 11:00:48 [debug] Moves scheduled 11230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 111, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:48 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 19981, writes 0 timeouts 0
2025-04-24 11:00:48 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36397/37178
2025-04-24 11:00:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:48 [info] currentZPosition:0.0917
2025-04-24 11:00:49 [debug] Stopped at height 0.093 mm
2025-04-24 11:00:49 [debug] Diagnostics for board 50:
2025-04-24 11:00:49 [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 11:00:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:54 ago, cause: software
2025-04-24 11:00:49 [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 11:00:49 [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 11:00:49 [debug] Moves scheduled 11234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 108, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:00:49 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16978, writes 0 timeouts 0
2025-04-24 11:00:49 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36106/37177
2025-04-24 11:00:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:49 [info] currentZPosition:0.0925
2025-04-24 11:00:50 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:50 [debug] Diagnostics for board 50:
2025-04-24 11:00:50 [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 11:00:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:55 ago, cause: software
2025-04-24 11:00:50 [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 11:00:50 [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 11:00:50 [debug] Moves scheduled 11238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 101, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:50 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16948, writes 0 timeouts 0
2025-04-24 11:00:50 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37176
2025-04-24 11:00:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:50 [info] currentZPosition:0.0914
2025-04-24 11:00:52 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:52 [debug] Diagnostics for board 50:
2025-04-24 11:00:52 [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 11:00:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:56 ago, cause: software
2025-04-24 11:00:52 [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 11:00:52 [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 11:00:52 [debug] Moves scheduled 11242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7009, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:00:52 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17222, writes 0 timeouts 0
2025-04-24 11:00:52 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37177
2025-04-24 11:00:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:52 [info] currentZPosition:0.0914
2025-04-24 11:00:53 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:53 [debug] Diagnostics for board 50:
2025-04-24 11:00:53 [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 11:00:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:58 ago, cause: software
2025-04-24 11:00:53 [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 11:00:53 [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 11:00:53 [debug] Moves scheduled 11246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 82, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:53 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16397, writes 0 timeouts 0
2025-04-24 11:00:53 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36346/37180
2025-04-24 11:00:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:53 [info] currentZPosition:0.0921
2025-04-24 11:00:54 [debug] Stopped at height 0.091 mm
2025-04-24 11:00:54 [debug] Diagnostics for board 50:
2025-04-24 11:00:54 [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 11:00:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:02:59 ago, cause: software
2025-04-24 11:00:54 [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 11:00:54 [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 11:00:54 [debug] Moves scheduled 11250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=18292
Sync err accum 70, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:00:54 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17547, writes 0 timeouts 0
2025-04-24 11:00:54 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37177
2025-04-24 11:00:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:54 [info] currentZPosition:0.0913
2025-04-24 11:00:56 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:56 [debug] Diagnostics for board 50:
2025-04-24 11:00:56 [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 11:00:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:00 ago, cause: software
2025-04-24 11:00:56 [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 11:00:56 [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 11:00:56 [debug] Moves scheduled 11254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 63, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:56 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16402, writes 0 timeouts 0
2025-04-24 11:00:56 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36402/37179
2025-04-24 11:00:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:56 [info] currentZPosition:0.0918
2025-04-24 11:00:57 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:57 [debug] Diagnostics for board 50:
2025-04-24 11:00:57 [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 11:00:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:02 ago, cause: software
2025-04-24 11:00:57 [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 11:00:57 [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 11:00:57 [debug] Moves scheduled 11258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 79, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:00:57 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16992, writes 0 timeouts 0
2025-04-24 11:00:57 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37172
2025-04-24 11:00:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:57 [info] currentZPosition:0.0924
2025-04-24 11:00:58 [debug] Stopped at height 0.092 mm
2025-04-24 11:00:58 [debug] Diagnostics for board 50:
2025-04-24 11:00:58 [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 11:00:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:03 ago, cause: software
2025-04-24 11:00:58 [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 11:00:58 [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 11:00:58 [debug] Moves scheduled 11262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6880, max=18292
Sync err accum 89, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:00:58 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16732, writes 0 timeouts 0
2025-04-24 11:00:58 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37172
2025-04-24 11:00:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:00:58 [info] currentZPosition:0.0920
2025-04-24 11:01:00 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:00 [debug] Diagnostics for board 50:
2025-04-24 11:01:00 [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 11:01:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:03:05 ago, cause: software
2025-04-24 11:01:00 [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 11:01:00 [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 11:01:00 [debug] Moves scheduled 11266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 100, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294928472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:00 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17272, writes 0 timeouts 0
2025-04-24 11:01:00 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36079/37173
2025-04-24 11:01:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:00 [info] currentZPosition:0.0919
2025-04-24 11:01:01 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:01 [debug] Diagnostics for board 50:
2025-04-24 11:01:01 [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 11:01:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:06 ago, cause: software
2025-04-24 11:01:01 [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 11:01:01 [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 11:01:01 [debug] Moves scheduled 11270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:01 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16302, writes 0 timeouts 0
2025-04-24 11:01:01 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36283/37174
2025-04-24 11:01:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:01 [info] currentZPosition:0.0929
2025-04-24 11:01:02 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:02 [debug] Diagnostics for board 50:
2025-04-24 11:01:02 [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 11:01:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:07 ago, cause: software
2025-04-24 11:01:02 [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 11:01:02 [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 11:01:02 [debug] Moves scheduled 11274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=5681, max=18292
Sync err accum 115, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:02 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17791, writes 0 timeouts 0
2025-04-24 11:01:02 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36096/37173
2025-04-24 11:01:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:03 [info] currentZPosition:0.0910
2025-04-24 11:01:03 [debug] Stopped at height 0.090 mm
2025-04-24 11:01:04 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:04 [debug] Diagnostics for board 50:
2025-04-24 11:01:04 [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 11:01:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:09 ago, cause: software
2025-04-24 11:01:04 [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 11:01:04 [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 11:01:04 [debug] Moves scheduled 11280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 119, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:04 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20217, writes 0 timeouts 0
2025-04-24 11:01:04 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37178
2025-04-24 11:01:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:04 [info] currentZPosition:0.0922
2025-04-24 11:01:04 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:06 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:06 [debug] Diagnostics for board 50:
2025-04-24 11:01:06 [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 11:01:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:03:11 ago, cause: software
2025-04-24 11:01:06 [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 11:01:06 [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 11:01:06 [debug] Moves scheduled 11286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 119, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:06 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20847, writes 0 timeouts 0
2025-04-24 11:01:06 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36109/37174
2025-04-24 11:01:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:06 [info] currentZPosition:0.0928
2025-04-24 11:01:06 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:07 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:07 [debug] Diagnostics for board 50:
2025-04-24 11:01:07 [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 11:01:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:12 ago, cause: software
2025-04-24 11:01:07 [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 11:01:07 [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 11:01:07 [debug] Moves scheduled 11292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5725, max=17045
Sync err accum 114, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:07 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20800, writes 0 timeouts 0
2025-04-24 11:01:07 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36163/37176
2025-04-24 11:01:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:07 [info] currentZPosition:0.0917
2025-04-24 11:01:09 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:09 [debug] Diagnostics for board 50:
2025-04-24 11:01:09 [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 11:01:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:14 ago, cause: software
2025-04-24 11:01:09 [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 11:01:09 [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 11:01:09 [debug] Moves scheduled 11296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 106, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:01:09 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17308, writes 0 timeouts 0
2025-04-24 11:01:09 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36113/37177
2025-04-24 11:01:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:09 [info] currentZPosition:0.0914
2025-04-24 11:01:10 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:10 [debug] Diagnostics for board 50:
2025-04-24 11:01:10 [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 11:01:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:15 ago, cause: software
2025-04-24 11:01:10 [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 11:01:10 [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 11:01:10 [debug] Moves scheduled 11300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6048, max=17857
Sync err accum 98, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:10 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16241, writes 0 timeouts 0
2025-04-24 11:01:10 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37178
2025-04-24 11:01:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:10 [info] currentZPosition:0.0927
2025-04-24 11:01:10 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:12 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:12 [debug] Diagnostics for board 50:
2025-04-24 11:01:12 [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 11:01:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:17 ago, cause: software
2025-04-24 11:01:12 [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 11:01:12 [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 11:01:12 [debug] Moves scheduled 11306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:12 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 21186, writes 0 timeouts 0
2025-04-24 11:01:12 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37178
2025-04-24 11:01:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:12 [info] currentZPosition:0.0921
2025-04-24 11:01:13 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:13 [debug] Diagnostics for board 50:
2025-04-24 11:01:13 [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 11:01:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:03:18 ago, cause: software
2025-04-24 11:01:13 [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 11:01:13 [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 11:01:13 [debug] Moves scheduled 11310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=18292
Sync err accum 72, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:13 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16491, writes 0 timeouts 0
2025-04-24 11:01:13 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36168/37179
2025-04-24 11:01:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:13 [info] currentZPosition:0.0925
2025-04-24 11:01:14 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:14 [debug] Diagnostics for board 50:
2025-04-24 11:01:14 [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 11:01:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:19 ago, cause: software
2025-04-24 11:01:14 [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 11:01:14 [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 11:01:14 [debug] Moves scheduled 11314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 60, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:01:14 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17213, writes 0 timeouts 0
2025-04-24 11:01:14 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37178
2025-04-24 11:01:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:15 [info] currentZPosition:0.0927
2025-04-24 11:01:16 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:16 [debug] Diagnostics for board 50:
2025-04-24 11:01:16 [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 11:01:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:21 ago, cause: software
2025-04-24 11:01:16 [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 11:01:16 [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 11:01:16 [debug] Moves scheduled 11318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6944, max=17045
Sync err accum 72, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:16 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16725, writes 0 timeouts 0
2025-04-24 11:01:16 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37174
2025-04-24 11:01:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:16 [info] currentZPosition:0.0922
2025-04-24 11:01:17 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:17 [debug] Diagnostics for board 50:
2025-04-24 11:01:17 [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 11:01:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:22 ago, cause: software
2025-04-24 11:01:17 [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 11:01:17 [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 11:01:17 [debug] Moves scheduled 11322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 83, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:17 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16963, writes 0 timeouts 0
2025-04-24 11:01:17 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37175
2025-04-24 11:01:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:17 [info] currentZPosition:0.0929
2025-04-24 11:01:18 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:18 [debug] Diagnostics for board 50:
2025-04-24 11:01:18 [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 11:01:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:23 ago, cause: software
2025-04-24 11:01:18 [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 11:01:18 [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 11:01:18 [debug] Moves scheduled 11326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:18 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16481, writes 0 timeouts 0
2025-04-24 11:01:18 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37172
2025-04-24 11:01:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:19 [info] currentZPosition:0.0933
2025-04-24 11:01:20 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:20 [debug] Diagnostics for board 50:
2025-04-24 11:01:20 [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 11:01:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:25 ago, cause: software
2025-04-24 11:01:20 [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 11:01:20 [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 11:01:20 [debug] Moves scheduled 11330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:20 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17079, writes 0 timeouts 0
2025-04-24 11:01:20 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 11:01:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8761, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:20 [info] currentZPosition:0.0937
2025-04-24 11:01:21 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:21 [debug] Diagnostics for board 50:
2025-04-24 11:01:21 [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 11:01:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:26 ago, cause: software
2025-04-24 11:01:21 [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 11:01:21 [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 11:01:21 [debug] Moves scheduled 11334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:21 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16649, writes 0 timeouts 0
2025-04-24 11:01:21 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37177
2025-04-24 11:01:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:21 [info] currentZPosition:0.0935
2025-04-24 11:01:23 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:23 [debug] Diagnostics for board 50:
2025-04-24 11:01:23 [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 11:01:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:27 ago, cause: software
2025-04-24 11:01:23 [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 11:01:23 [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 11:01:23 [debug] Moves scheduled 11338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 104, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:23 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17185, writes 0 timeouts 0
2025-04-24 11:01:23 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37176
2025-04-24 11:01:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8767, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:23 [info] currentZPosition:0.0935
2025-04-24 11:01:24 [debug] Stopped at height 0.090 mm
2025-04-24 11:01:24 [debug] Diagnostics for board 50:
2025-04-24 11:01:24 [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 11:01:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:29 ago, cause: software
2025-04-24 11:01:24 [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 11:01:24 [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 11:01:24 [debug] Moves scheduled 11342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932811 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:24 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17643, writes 0 timeouts 0
2025-04-24 11:01:24 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36168/37176
2025-04-24 11:01:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:24 [info] currentZPosition:0.0901
2025-04-24 11:01:24 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:26 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:26 [debug] Diagnostics for board 50:
2025-04-24 11:01:26 [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 11:01:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:30 ago, cause: software
2025-04-24 11:01:26 [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 11:01:26 [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 11:01:26 [debug] Moves scheduled 11348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:26 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 19968, writes 0 timeouts 0
2025-04-24 11:01:26 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 11:01:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:26 [info] currentZPosition:0.0933
2025-04-24 11:01:26 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:27 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:27 [debug] Diagnostics for board 50:
2025-04-24 11:01:27 [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 11:01:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:32 ago, cause: software
2025-04-24 11:01:27 [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 11:01:27 [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 11:01:27 [debug] Moves scheduled 11354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6048, max=17045
Sync err accum 84, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:01:27 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20811, writes 0 timeouts 0
2025-04-24 11:01:27 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36180/37178
2025-04-24 11:01:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:27 [info] currentZPosition:0.0923
2025-04-24 11:01:29 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:29 [debug] Diagnostics for board 50:
2025-04-24 11:01:29 [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 11:01:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:33 ago, cause: software
2025-04-24 11:01:29 [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 11:01:29 [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 11:01:29 [debug] Moves scheduled 11358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:29 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17211, writes 0 timeouts 0
2025-04-24 11:01:29 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37178
2025-04-24 11:01:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:29 [info] currentZPosition:0.0921
2025-04-24 11:01:30 [debug] Stopped at height 0.092 mm
2025-04-24 11:01:30 [debug] Diagnostics for board 50:
2025-04-24 11:01:30 [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 11:01:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:35 ago, cause: software
2025-04-24 11:01:30 [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 11:01:30 [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 11:01:30 [debug] Moves scheduled 11362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935811 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:30 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16509, writes 0 timeouts 0
2025-04-24 11:01:30 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36153/37177
2025-04-24 11:01:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:30 [info] currentZPosition:0.0924
2025-04-24 11:01:31 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:31 [debug] Diagnostics for board 50:
2025-04-24 11:01:31 [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 11:01:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:36 ago, cause: software
2025-04-24 11:01:31 [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 11:01:31 [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 11:01:31 [debug] Moves scheduled 11366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 64, peak jitter -3/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:31 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17051, writes 0 timeouts 0
2025-04-24 11:01:31 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37178
2025-04-24 11:01:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:31 [info] currentZPosition:0.0928
2025-04-24 11:01:33 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:33 [debug] Diagnostics for board 50:
2025-04-24 11:01:33 [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 11:01:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:37 ago, cause: software
2025-04-24 11:01:33 [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 11:01:33 [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 11:01:33 [debug] Moves scheduled 11370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=84, frequency (Hz): min=6696, max=17045
Sync err accum 73, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:33 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16442, writes 0 timeouts 0
2025-04-24 11:01:33 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37173
2025-04-24 11:01:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:33 [info] currentZPosition:0.0933
2025-04-24 11:01:34 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:34 [debug] Diagnostics for board 50:
2025-04-24 11:01:34 [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 11:01:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:39 ago, cause: software
2025-04-24 11:01:34 [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 11:01:34 [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 11:01:34 [debug] Moves scheduled 11374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=18292
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:34 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17062, writes 0 timeouts 0
2025-04-24 11:01:34 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37171
2025-04-24 11:01:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:34 [info] currentZPosition:0.0936
2025-04-24 11:01:35 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:35 [debug] Diagnostics for board 50:
2025-04-24 11:01:35 [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 11:01:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:40 ago, cause: software
2025-04-24 11:01:35 [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 11:01:35 [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 11:01:35 [debug] Moves scheduled 11378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 80, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:35 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16751, writes 0 timeouts 0
2025-04-24 11:01:35 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37174
2025-04-24 11:01:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:35 [info] currentZPosition:0.0931
2025-04-24 11:01:37 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:37 [debug] Diagnostics for board 50:
2025-04-24 11:01:37 [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 11:01:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:42 ago, cause: software
2025-04-24 11:01:37 [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 11:01:37 [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 11:01:37 [debug] Moves scheduled 11382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=554, max=18292
Sync err accum 82, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:37 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17653, writes 11 timeouts 1
2025-04-24 11:01:37 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37175
2025-04-24 11:01:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:37 [info] currentZPosition:0.0913
2025-04-24 11:01:37 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:38 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:38 [debug] Diagnostics for board 50:
2025-04-24 11:01:38 [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 11:01:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:43 ago, cause: software
2025-04-24 11:01:38 [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 11:01:38 [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 11:01:38 [debug] Moves scheduled 11388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 84, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:38 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 19914, writes 0 timeouts 0
2025-04-24 11:01:38 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37176
2025-04-24 11:01:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:38 [info] currentZPosition:0.0932
2025-04-24 11:01:39 [debug] Stopped at height 0.091 mm
2025-04-24 11:01:40 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:40 [debug] Diagnostics for board 50:
2025-04-24 11:01:40 [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 11:01:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:45 ago, cause: software
2025-04-24 11:01:40 [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 11:01:40 [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 11:01:40 [debug] Moves scheduled 11394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:40 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 21036, writes 0 timeouts 0
2025-04-24 11:01:40 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37177
2025-04-24 11:01:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:40 [info] currentZPosition:0.0933
2025-04-24 11:01:40 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:42 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:42 [debug] Diagnostics for board 50:
2025-04-24 11:01:42 [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 11:01:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:46 ago, cause: software
2025-04-24 11:01:42 [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 11:01:42 [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 11:01:42 [debug] Moves scheduled 11400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 68, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:42 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20786, writes 0 timeouts 0
2025-04-24 11:01:42 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37177
2025-04-24 11:01:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:42 [info] currentZPosition:0.0928
2025-04-24 11:01:43 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:43 [debug] Diagnostics for board 50:
2025-04-24 11:01:43 [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 11:01:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:48 ago, cause: software
2025-04-24 11:01:43 [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 11:01:43 [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 11:01:43 [debug] Moves scheduled 11404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:43 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16985, writes 0 timeouts 0
2025-04-24 11:01:43 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37179
2025-04-24 11:01:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:43 [info] currentZPosition:0.0935
2025-04-24 11:01:44 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:44 [debug] Diagnostics for board 50:
2025-04-24 11:01:44 [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 11:01:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:49 ago, cause: software
2025-04-24 11:01:44 [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 11:01:44 [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 11:01:44 [debug] Moves scheduled 11408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:44 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16991, writes 0 timeouts 0
2025-04-24 11:01:44 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37171
2025-04-24 11:01:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:44 [info] currentZPosition:0.0926
2025-04-24 11:01:46 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:46 [debug] Diagnostics for board 50:
2025-04-24 11:01:46 [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 11:01:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:51 ago, cause: software
2025-04-24 11:01:46 [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 11:01:46 [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 11:01:46 [debug] Moves scheduled 11412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:46 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16820, writes 0 timeouts 0
2025-04-24 11:01:46 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37174
2025-04-24 11:01:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:46 [info] currentZPosition:0.0936
2025-04-24 11:01:47 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:47 [debug] Diagnostics for board 50:
2025-04-24 11:01:47 [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 11:01:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:52 ago, cause: software
2025-04-24 11:01:47 [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 11:01:47 [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 11:01:47 [debug] Moves scheduled 11416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:47 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16917, writes 0 timeouts 0
2025-04-24 11:01:47 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36164/37172
2025-04-24 11:01:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:47 [info] currentZPosition:0.0926
2025-04-24 11:01:48 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:48 [debug] Diagnostics for board 50:
2025-04-24 11:01:48 [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 11:01:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:53 ago, cause: software
2025-04-24 11:01:48 [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 11:01:48 [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 11:01:48 [debug] Moves scheduled 11420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17857
Sync err accum 73, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:48 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16891, writes 0 timeouts 0
2025-04-24 11:01:48 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36097/37177
2025-04-24 11:01:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:49 [info] currentZPosition:0.0936
2025-04-24 11:01:50 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:50 [debug] Diagnostics for board 50:
2025-04-24 11:01:50 [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 11:01:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:03:55 ago, cause: software
2025-04-24 11:01:50 [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 11:01:50 [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 11:01:50 [debug] Moves scheduled 11424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:50 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16820, writes 0 timeouts 0
2025-04-24 11:01:50 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37174
2025-04-24 11:01:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:50 [info] currentZPosition:0.0929
2025-04-24 11:01:51 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:51 [debug] Diagnostics for board 50:
2025-04-24 11:01:51 [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 11:01:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:56 ago, cause: software
2025-04-24 11:01:51 [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 11:01:51 [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 11:01:51 [debug] Moves scheduled 11428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:01:51 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17136, writes 0 timeouts 0
2025-04-24 11:01:51 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37175
2025-04-24 11:01:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:51 [info] currentZPosition:0.0930
2025-04-24 11:01:52 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:52 [debug] Diagnostics for board 50:
2025-04-24 11:01:52 [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 11:01:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:57 ago, cause: software
2025-04-24 11:01:52 [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 11:01:52 [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 11:01:52 [debug] Moves scheduled 11432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:52 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16501, writes 0 timeouts 0
2025-04-24 11:01:52 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37177
2025-04-24 11:01:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:53 [info] currentZPosition:0.0932
2025-04-24 11:01:54 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:54 [debug] Diagnostics for board 50:
2025-04-24 11:01:54 [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 11:01:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:03:59 ago, cause: software
2025-04-24 11:01:54 [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 11:01:54 [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 11:01:54 [debug] Moves scheduled 11436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:54 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16961, writes 0 timeouts 0
2025-04-24 11:01:54 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36087/37174
2025-04-24 11:01:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:54 [info] currentZPosition:0.0938
2025-04-24 11:01:55 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:55 [debug] Diagnostics for board 50:
2025-04-24 11:01:55 [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 11:01:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:00 ago, cause: software
2025-04-24 11:01:55 [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 11:01:55 [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 11:01:55 [debug] Moves scheduled 11440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:55 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16632, writes 0 timeouts 0
2025-04-24 11:01:55 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36279/37175
2025-04-24 11:01:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:55 [info] currentZPosition:0.0938
2025-04-24 11:01:57 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:57 [debug] Diagnostics for board 50:
2025-04-24 11:01:57 [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 11:01:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:01 ago, cause: software
2025-04-24 11:01:57 [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 11:01:57 [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 11:01:57 [debug] Moves scheduled 11444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=108, frequency (Hz): min=6410, max=18292
Sync err accum 90, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:57 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17234, writes 0 timeouts 0
2025-04-24 11:01:57 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37172
2025-04-24 11:01:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:57 [info] currentZPosition:0.0935
2025-04-24 11:01:58 [debug] Stopped at height 0.094 mm
2025-04-24 11:01:58 [debug] Diagnostics for board 50:
2025-04-24 11:01:58 [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 11:01:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:03 ago, cause: software
2025-04-24 11:01:58 [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 11:01:58 [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 11:01:58 [debug] Moves scheduled 11448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:01:58 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16460, writes 0 timeouts 0
2025-04-24 11:01:58 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37174
2025-04-24 11:01:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:58 [info] currentZPosition:0.0942
2025-04-24 11:01:59 [debug] Stopped at height 0.093 mm
2025-04-24 11:01:59 [debug] Diagnostics for board 50:
2025-04-24 11:01:59 [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 11:01:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:04 ago, cause: software
2025-04-24 11:01:59 [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 11:01:59 [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 11:01:59 [debug] Moves scheduled 11452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17857
Sync err accum 94, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:01:59 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17422, writes 0 timeouts 0
2025-04-24 11:01:59 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37172
2025-04-24 11:01:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:01:59 [info] currentZPosition:0.0934
2025-04-24 11:02:01 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:01 [debug] Diagnostics for board 50:
2025-04-24 11:02:01 [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 11:02:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:05 ago, cause: software
2025-04-24 11:02:01 [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 11:02:01 [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 11:02:01 [debug] Moves scheduled 11456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:01 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17045, writes 0 timeouts 0
2025-04-24 11:02:01 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36404/37178
2025-04-24 11:02:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:01 [info] currentZPosition:0.0920
2025-04-24 11:02:01 [debug] Stopped at height 0.091 mm
2025-04-24 11:02:02 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:02 [debug] Diagnostics for board 50:
2025-04-24 11:02:02 [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 11:02:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:07 ago, cause: software
2025-04-24 11:02:02 [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 11:02:02 [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 11:02:02 [debug] Moves scheduled 11462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:02 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20453, writes 0 timeouts 0
2025-04-24 11:02:02 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36102/37178
2025-04-24 11:02:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:02 [info] currentZPosition:0.0941
2025-04-24 11:02:03 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:04 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:04 [debug] Diagnostics for board 50:
2025-04-24 11:02:04 [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 11:02:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:09 ago, cause: software
2025-04-24 11:02:04 [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 11:02:04 [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 11:02:04 [debug] Moves scheduled 11468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:02:04 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 20883, writes 0 timeouts 0
2025-04-24 11:02:04 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36397/37177
2025-04-24 11:02:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:04 [info] currentZPosition:0.0928
2025-04-24 11:02:05 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:05 [debug] Diagnostics for board 50:
2025-04-24 11:02:05 [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 11:02:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:10 ago, cause: software
2025-04-24 11:02:05 [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 11:02:05 [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 11:02:05 [debug] Moves scheduled 11472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=18292
Sync err accum 63, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:05 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16828, writes 0 timeouts 0
2025-04-24 11:02:05 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36095/37178
2025-04-24 11:02:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:05 [info] currentZPosition:0.0940
2025-04-24 11:02:07 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:07 [debug] Diagnostics for board 50:
2025-04-24 11:02:07 [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 11:02:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:11 ago, cause: software
2025-04-24 11:02:07 [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 11:02:07 [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 11:02:07 [debug] Moves scheduled 11476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=18292
Sync err accum 67, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:07 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16359, writes 0 timeouts 0
2025-04-24 11:02:07 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37177
2025-04-24 11:02:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:07 [info] currentZPosition:0.0947
2025-04-24 11:02:08 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:08 [debug] Diagnostics for board 50:
2025-04-24 11:02:08 [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 11:02:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:13 ago, cause: software
2025-04-24 11:02:08 [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 11:02:08 [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 11:02:08 [debug] Moves scheduled 11480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 83, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:08 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17537, writes 0 timeouts 0
2025-04-24 11:02:08 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37169
2025-04-24 11:02:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:08 [info] currentZPosition:0.0935
2025-04-24 11:02:09 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:09 [debug] Diagnostics for board 50:
2025-04-24 11:02:09 [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 11:02:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:14 ago, cause: software
2025-04-24 11:02:09 [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 11:02:09 [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 11:02:09 [debug] Moves scheduled 11484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:09 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16770, writes 0 timeouts 0
2025-04-24 11:02:09 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36396/37174
2025-04-24 11:02:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:09 [info] currentZPosition:0.0929
2025-04-24 11:02:11 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:11 [debug] Diagnostics for board 50:
2025-04-24 11:02:11 [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 11:02:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:16 ago, cause: software
2025-04-24 11:02:11 [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 11:02:11 [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 11:02:11 [debug] Moves scheduled 11488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6355, max=17045
Sync err accum 105, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294937003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:11 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16972, writes 0 timeouts 0
2025-04-24 11:02:11 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37170
2025-04-24 11:02:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:11 [info] currentZPosition:0.0935
2025-04-24 11:02:12 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:12 [debug] Diagnostics for board 50:
2025-04-24 11:02:12 [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 11:02:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:17 ago, cause: software
2025-04-24 11:02:12 [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 11:02:12 [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 11:02:12 [debug] Moves scheduled 11492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6818, max=17045
Sync err accum 112, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933557 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:12 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16468, writes 0 timeouts 0
2025-04-24 11:02:12 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36380/37173
2025-04-24 11:02:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:12 [info] currentZPosition:0.0940
2025-04-24 11:02:13 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:13 [debug] Diagnostics for board 50:
2025-04-24 11:02:13 [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 11:02:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:18 ago, cause: software
2025-04-24 11:02:13 [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 11:02:13 [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 11:02:13 [debug] Moves scheduled 11496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 116, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:13 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17482, writes 0 timeouts 0
2025-04-24 11:02:13 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36094/37174
2025-04-24 11:02:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:13 [info] currentZPosition:0.0930
2025-04-24 11:02:15 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:15 [debug] Diagnostics for board 50:
2025-04-24 11:02:15 [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 11:02:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:20 ago, cause: software
2025-04-24 11:02:15 [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 11:02:15 [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 11:02:15 [debug] Moves scheduled 11500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 118, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:15 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16654, writes 0 timeouts 0
2025-04-24 11:02:15 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36397/37174
2025-04-24 11:02:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:15 [info] currentZPosition:0.0929
2025-04-24 11:02:16 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:16 [debug] Diagnostics for board 50:
2025-04-24 11:02:16 [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 11:02:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:21 ago, cause: software
2025-04-24 11:02:16 [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 11:02:16 [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 11:02:16 [debug] Moves scheduled 11504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 120, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294931825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:16 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16756, writes 0 timeouts 0
2025-04-24 11:02:16 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37174
2025-04-24 11:02:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:16 [info] currentZPosition:0.0944
2025-04-24 11:02:16 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:18 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:18 [debug] Diagnostics for board 50:
2025-04-24 11:02:18 [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 11:02:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:22 ago, cause: software
2025-04-24 11:02:18 [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 11:02:18 [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 11:02:18 [debug] Moves scheduled 11510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 119, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:18 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 19860, writes 0 timeouts 0
2025-04-24 11:02:18 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36393/37179
2025-04-24 11:02:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:18 [info] currentZPosition:0.0959
2025-04-24 11:02:19 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:19 [debug] Diagnostics for board 50:
2025-04-24 11:02:19 [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 11:02:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:24 ago, cause: software
2025-04-24 11:02:19 [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 11:02:19 [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 11:02:19 [debug] Moves scheduled 11514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:19 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17434, writes 0 timeouts 0
2025-04-24 11:02:19 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37178
2025-04-24 11:02:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:19 [info] currentZPosition:0.0951
2025-04-24 11:02:20 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:20 [debug] Diagnostics for board 50:
2025-04-24 11:02:20 [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 11:02:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:25 ago, cause: software
2025-04-24 11:02:20 [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 11:02:20 [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 11:02:20 [debug] Moves scheduled 11518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:20 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16864, writes 0 timeouts 0
2025-04-24 11:02:20 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37178
2025-04-24 11:02:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:20 [info] currentZPosition:0.0945
2025-04-24 11:02:22 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:22 [debug] Diagnostics for board 50:
2025-04-24 11:02:22 [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 11:02:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:27 ago, cause: software
2025-04-24 11:02:22 [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 11:02:22 [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 11:02:22 [debug] Moves scheduled 11522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 96, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:02:22 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17880, writes 0 timeouts 0
2025-04-24 11:02:22 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37178
2025-04-24 11:02:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:22 [info] currentZPosition:0.0923
2025-04-24 11:02:22 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:23 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:23 [debug] Diagnostics for board 50:
2025-04-24 11:02:23 [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 11:02:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:28 ago, cause: software
2025-04-24 11:02:23 [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 11:02:23 [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 11:02:23 [debug] Moves scheduled 11528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 82, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:23 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 19770, writes 0 timeouts 0
2025-04-24 11:02:23 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37178
2025-04-24 11:02:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:24 [info] currentZPosition:0.0949
2025-04-24 11:02:24 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:25 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:25 [debug] Diagnostics for board 50:
2025-04-24 11:02:25 [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 11:02:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:30 ago, cause: software
2025-04-24 11:02:25 [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 11:02:25 [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 11:02:25 [debug] Moves scheduled 11534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=519, max=17857
Sync err accum 61, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:25 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21192, writes 11 timeouts 1
2025-04-24 11:02:25 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37180
2025-04-24 11:02:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:25 [info] currentZPosition:0.0946
2025-04-24 11:02:27 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:27 [debug] Diagnostics for board 50:
2025-04-24 11:02:27 [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 11:02:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:31 ago, cause: software
2025-04-24 11:02:27 [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 11:02:27 [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 11:02:27 [debug] Moves scheduled 11538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -3/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:27 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17170, writes 0 timeouts 0
2025-04-24 11:02:27 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36397/37175
2025-04-24 11:02:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:27 [info] currentZPosition:0.0928
2025-04-24 11:02:27 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:28 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:28 [debug] Diagnostics for board 50:
2025-04-24 11:02:28 [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 11:02:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:33 ago, cause: software
2025-04-24 11:02:28 [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 11:02:28 [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 11:02:28 [debug] Moves scheduled 11544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=17441
Sync err accum 86, peak jitter 2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:28 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20749, writes 0 timeouts 0
2025-04-24 11:02:28 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37174
2025-04-24 11:02:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:28 [info] currentZPosition:0.0942
2025-04-24 11:02:29 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:30 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:30 [debug] Diagnostics for board 50:
2025-04-24 11:02:30 [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 11:02:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:04:35 ago, cause: software
2025-04-24 11:02:30 [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 11:02:30 [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 11:02:30 [debug] Moves scheduled 11550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6302, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:30 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20201, writes 0 timeouts 0
2025-04-24 11:02:30 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36401/37176
2025-04-24 11:02:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:30 [info] currentZPosition:0.0952
2025-04-24 11:02:31 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:31 [debug] Diagnostics for board 50:
2025-04-24 11:02:31 [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 11:02:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:36 ago, cause: software
2025-04-24 11:02:31 [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 11:02:31 [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 11:02:31 [debug] Moves scheduled 11554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 100, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936346 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:31 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17247, writes 0 timeouts 0
2025-04-24 11:02:31 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37176
2025-04-24 11:02:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:31 [info] currentZPosition:0.0949
2025-04-24 11:02:32 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:32 [debug] Diagnostics for board 50:
2025-04-24 11:02:32 [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 11:02:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:37 ago, cause: software
2025-04-24 11:02:32 [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 11:02:32 [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 11:02:32 [debug] Moves scheduled 11558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 106, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:32 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16319, writes 0 timeouts 0
2025-04-24 11:02:32 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37175
2025-04-24 11:02:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:33 [info] currentZPosition:0.0958
2025-04-24 11:02:34 [debug] Stopped at height 0.091 mm
2025-04-24 11:02:34 [debug] Diagnostics for board 50:
2025-04-24 11:02:34 [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 11:02:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:39 ago, cause: software
2025-04-24 11:02:34 [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 11:02:34 [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 11:02:34 [debug] Moves scheduled 11562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6465, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:02:34 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 18514, writes 0 timeouts 0
2025-04-24 11:02:34 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37177
2025-04-24 11:02:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:34 [info] currentZPosition:0.0914
2025-04-24 11:02:34 [debug] Stopped at height 0.091 mm
2025-04-24 11:02:36 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:36 [debug] Diagnostics for board 50:
2025-04-24 11:02:36 [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 11:02:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:40 ago, cause: software
2025-04-24 11:02:36 [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 11:02:36 [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 11:02:36 [debug] Moves scheduled 11568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:36 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 19426, writes 0 timeouts 0
2025-04-24 11:02:36 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36399/37177
2025-04-24 11:02:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:36 [info] currentZPosition:0.0951
2025-04-24 11:02:36 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:37 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:37 [debug] Diagnostics for board 50:
2025-04-24 11:02:37 [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 11:02:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:42 ago, cause: software
2025-04-24 11:02:37 [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 11:02:37 [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 11:02:37 [debug] Moves scheduled 11574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=7075, max=17045
Sync err accum 97, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:37 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21382, writes 0 timeouts 0
2025-04-24 11:02:37 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 11:02:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:37 [info] currentZPosition:0.0934
2025-04-24 11:02:38 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:39 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:39 [debug] Diagnostics for board 50:
2025-04-24 11:02:39 [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 11:02:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:44 ago, cause: software
2025-04-24 11:02:39 [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 11:02:39 [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 11:02:39 [debug] Moves scheduled 11580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294926802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:39 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 21288, writes 0 timeouts 0
2025-04-24 11:02:39 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36404/37178
2025-04-24 11:02:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:39 [info] currentZPosition:0.0917
2025-04-24 11:02:40 [debug] Stopped at height 0.097 mm
2025-04-24 11:02:40 [debug] Diagnostics for board 50:
2025-04-24 11:02:40 [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 11:02:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:45 ago, cause: software
2025-04-24 11:02:40 [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 11:02:40 [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 11:02:40 [debug] Moves scheduled 11584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:02:40 [debug] Driver 0: pos -3435, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 15533, writes 0 timeouts 0
2025-04-24 11:02:40 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37177
2025-04-24 11:02:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8681, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:40 [info] currentZPosition:0.0970
2025-04-24 11:02:41 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:41 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:42 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:42 [debug] Diagnostics for board 50:
2025-04-24 11:02:42 [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 11:02:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:47 ago, cause: software
2025-04-24 11:02:42 [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 11:02:42 [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 11:02:42 [debug] Moves scheduled 11592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 65, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:42 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 25784, writes 0 timeouts 0
2025-04-24 11:02:42 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 293, adv 36389/37180
2025-04-24 11:02:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:42 [info] currentZPosition:0.0932
2025-04-24 11:02:43 [debug] Stopped at height 0.093 mm
2025-04-24 11:02:44 [debug] Stopped at height 0.097 mm
2025-04-24 11:02:44 [debug] Diagnostics for board 50:
2025-04-24 11:02:44 [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 11:02:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:49 ago, cause: software
2025-04-24 11:02:44 [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 11:02:44 [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 11:02:44 [debug] Moves scheduled 11598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:02:44 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 19909, writes 0 timeouts 0
2025-04-24 11:02:44 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36108/37177
2025-04-24 11:02:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:44 [info] currentZPosition:0.0970
2025-04-24 11:02:44 [debug] Stopped at height 0.095 mm
2025-04-24 11:02:45 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:46 [debug] Stopped at height 0.098 mm
2025-04-24 11:02:46 [debug] Diagnostics for board 50:
2025-04-24 11:02:46 [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 11:02:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:51 ago, cause: software
2025-04-24 11:02:46 [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 11:02:46 [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 11:02:46 [debug] Moves scheduled 11606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:02:46 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 24266, writes 0 timeouts 0
2025-04-24 11:02:46 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36398/37176
2025-04-24 11:02:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8652, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:46 [info] currentZPosition:0.0981
2025-04-24 11:02:46 [debug] Stopped at height 0.097 mm
2025-04-24 11:02:48 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:48 [debug] Diagnostics for board 50:
2025-04-24 11:02:48 [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 11:02:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:52 ago, cause: software
2025-04-24 11:02:48 [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 11:02:48 [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 11:02:48 [debug] Moves scheduled 11612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:48 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 23114, writes 0 timeouts 0
2025-04-24 11:02:48 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37177
2025-04-24 11:02:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:48 [info] currentZPosition:0.0922
2025-04-24 11:02:48 [debug] Stopped at height 0.090 mm
2025-04-24 11:02:48 [debug] Stopped at height 0.089 mm
2025-04-24 11:02:49 [debug] Stopped at height 0.097 mm
2025-04-24 11:02:49 [debug] Diagnostics for board 50:
2025-04-24 11:02:49 [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 11:02:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:54 ago, cause: software
2025-04-24 11:02:49 [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 11:02:49 [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 11:02:49 [debug] Moves scheduled 11620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6521, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:49 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 23412, writes 0 timeouts 0
2025-04-24 11:02:49 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36383/37174
2025-04-24 11:02:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:50 [info] currentZPosition:0.0966
2025-04-24 11:02:50 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:51 [debug] Stopped at height 0.094 mm
2025-04-24 11:02:51 [debug] Diagnostics for board 50:
2025-04-24 11:02:51 [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 11:02:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:56 ago, cause: software
2025-04-24 11:02:51 [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 11:02:51 [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 11:02:51 [debug] Moves scheduled 11626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 78, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:51 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 22115, writes 0 timeouts 0
2025-04-24 11:02:51 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37174
2025-04-24 11:02:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:51 [info] currentZPosition:0.0935
2025-04-24 11:02:52 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:53 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:53 [debug] Diagnostics for board 50:
2025-04-24 11:02:53 [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 11:02:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:58 ago, cause: software
2025-04-24 11:02:53 [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 11:02:53 [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 11:02:53 [debug] Moves scheduled 11632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6355, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:53 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 21357, writes 0 timeouts 0
2025-04-24 11:02:53 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36280/37178
2025-04-24 11:02:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:53 [info] currentZPosition:0.0915
2025-04-24 11:02:54 [debug] Stopped at height 0.099 mm
2025-04-24 11:02:54 [debug] Diagnostics for board 50:
2025-04-24 11:02:54 [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 11:02:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:04:59 ago, cause: software
2025-04-24 11:02:54 [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 11:02:54 [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 11:02:54 [debug] Moves scheduled 11636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:54 [debug] Driver 0: pos -3428, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 14977, writes 0 timeouts 0
2025-04-24 11:02:54 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 18, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36106/37177
2025-04-24 11:02:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8648, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:54 [info] currentZPosition:0.0987
2025-04-24 11:02:55 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:55 [debug] Stopped at height 0.096 mm
2025-04-24 11:02:56 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:56 [debug] Diagnostics for board 50:
2025-04-24 11:02:56 [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 11:02:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:01 ago, cause: software
2025-04-24 11:02:56 [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 11:02:56 [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 11:02:56 [debug] Moves scheduled 11644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:56 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 26642, writes 0 timeouts 0
2025-04-24 11:02:56 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 289, adv 36143/37176
2025-04-24 11:02:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:56 [info] currentZPosition:0.0922
2025-04-24 11:02:57 [debug] Stopped at height 0.092 mm
2025-04-24 11:02:58 [debug] Stopped at height 0.099 mm
2025-04-24 11:02:58 [debug] Diagnostics for board 50:
2025-04-24 11:02:58 [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 11:02:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:03 ago, cause: software
2025-04-24 11:02:58 [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 11:02:58 [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 11:02:58 [debug] Moves scheduled 11650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5639, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:02:58 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 19098, writes 0 timeouts 0
2025-04-24 11:02:58 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 292, adv 36099/37177
2025-04-24 11:02:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:02:58 [info] currentZPosition:0.0986
2025-04-24 11:02:58 [debug] Stopped at height 0.098 mm
2025-04-24 11:02:59 [debug] Stopped at height 0.099 mm
2025-04-24 11:02:59 [debug] Diagnostics for board 50:
2025-04-24 11:02:59 [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 11:02:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:04 ago, cause: software
2025-04-24 11:02:59 [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 11:02:59 [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 11:02:59 [debug] Moves scheduled 11656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6000, max=17857
Sync err accum 62, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:02:59 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 20430, writes 0 timeouts 0
2025-04-24 11:02:59 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37177
2025-04-24 11:02:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8650, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:00 [info] currentZPosition:0.0991
2025-04-24 11:03:01 [debug] Stopped at height 0.092 mm
2025-04-24 11:03:01 [debug] Diagnostics for board 50:
2025-04-24 11:03:01 [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 11:03:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:06 ago, cause: software
2025-04-24 11:03:01 [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 11:03:01 [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 11:03:01 [debug] Moves scheduled 11660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
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 4294932536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:01 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 19296, writes 0 timeouts 0
2025-04-24 11:03:01 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:03:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:01 [info] currentZPosition:0.0921
2025-04-24 11:03:01 [debug] Stopped at height 0.091 mm
2025-04-24 11:03:03 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:03 [debug] Diagnostics for board 50:
2025-04-24 11:03:03 [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 11:03:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:07 ago, cause: software
2025-04-24 11:03:03 [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 11:03:03 [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 11:03:03 [debug] Moves scheduled 11666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 93, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:03:03 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 18718, writes 0 timeouts 0
2025-04-24 11:03:03 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 284, adv 36165/37174
2025-04-24 11:03:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8686, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:03 [info] currentZPosition:0.0985
2025-04-24 11:03:03 [debug] Stopped at height 0.097 mm
2025-04-24 11:03:04 [debug] Stopped at height 0.095 mm
2025-04-24 11:03:04 [debug] Diagnostics for board 50:
2025-04-24 11:03:04 [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 11:03:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:09 ago, cause: software
2025-04-24 11:03:04 [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 11:03:04 [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 11:03:04 [debug] Moves scheduled 11672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 110, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:04 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 22522, writes 0 timeouts 0
2025-04-24 11:03:04 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 11:03:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:04 [info] currentZPosition:0.0945
2025-04-24 11:03:05 [debug] Stopped at height 0.093 mm
2025-04-24 11:03:06 [debug] Stopped at height 0.091 mm
2025-04-24 11:03:06 [debug] Diagnostics for board 50:
2025-04-24 11:03:06 [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 11:03:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:11 ago, cause: software
2025-04-24 11:03:06 [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 11:03:06 [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 11:03:06 [debug] Moves scheduled 11678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 125, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:06 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 21821, writes 0 timeouts 0
2025-04-24 11:03:06 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37175
2025-04-24 11:03:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:06 [info] currentZPosition:0.0908
2025-04-24 11:03:06 [debug] Stopped at height 0.090 mm
2025-04-24 11:03:08 [debug] Stopped at height 0.097 mm
2025-04-24 11:03:08 [debug] Diagnostics for board 50:
2025-04-24 11:03:08 [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 11:03:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:12 ago, cause: software
2025-04-24 11:03:08 [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 11:03:08 [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 11:03:08 [debug] Moves scheduled 11684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 126, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:08 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 19112, writes 0 timeouts 0
2025-04-24 11:03:08 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36089/37177
2025-04-24 11:03:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:08 [info] currentZPosition:0.0974
2025-04-24 11:03:08 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:08 [debug] Stopped at height 0.098 mm
2025-04-24 11:03:10 [debug] Stopped at height 0.095 mm
2025-04-24 11:03:10 [debug] Diagnostics for board 50:
2025-04-24 11:03:10 [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 11:03:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:14 ago, cause: software
2025-04-24 11:03:10 [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 11:03:10 [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 11:03:10 [debug] Moves scheduled 11692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 118, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:10 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 25557, writes 0 timeouts 0
2025-04-24 11:03:10 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 36159/37177
2025-04-24 11:03:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:10 [info] currentZPosition:0.0952
2025-04-24 11:03:10 [debug] Stopped at height 0.094 mm
2025-04-24 11:03:11 [debug] Stopped at height 0.100 mm
2025-04-24 11:03:11 [debug] Diagnostics for board 50:
2025-04-24 11:03:11 [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 11:03:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:16 ago, cause: software
2025-04-24 11:03:11 [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 11:03:11 [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 11:03:11 [debug] Moves scheduled 11698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 113, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:11 [debug] Driver 0: pos -3430, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 19896, writes 0 timeouts 0
2025-04-24 11:03:11 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36109/37175
2025-04-24 11:03:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 800
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8657, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:11 [info] currentZPosition:0.0997
2025-04-24 11:03:12 [debug] Stopped at height 0.098 mm
2025-04-24 11:03:13 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:13 [debug] Diagnostics for board 50:
2025-04-24 11:03:13 [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 11:03:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:05:18 ago, cause: software
2025-04-24 11:03:13 [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 11:03:13 [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 11:03:13 [debug] Moves scheduled 11704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6250, max=17857
Sync err accum 105, peak jitter -1/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:03:13 [debug] Driver 0: pos -3439, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20872, writes 0 timeouts 0
2025-04-24 11:03:13 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37176
2025-04-24 11:03:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:13 [info] currentZPosition:0.0989
2025-04-24 11:03:14 [debug] Stopped at height 0.092 mm
2025-04-24 11:03:14 [debug] Diagnostics for board 50:
2025-04-24 11:03:14 [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 11:03:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:19 ago, cause: software
2025-04-24 11:03:14 [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 11:03:14 [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 11:03:14 [debug] Moves scheduled 11708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17045
Sync err accum 90, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:03:14 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 19484, writes 0 timeouts 0
2025-04-24 11:03:14 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36112/37175
2025-04-24 11:03:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:15 [info] currentZPosition:0.0915
2025-04-24 11:03:15 [debug] Stopped at height 0.091 mm
2025-04-24 11:03:16 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:16 [debug] Diagnostics for board 50:
2025-04-24 11:03:16 [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 11:03:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:21 ago, cause: software
2025-04-24 11:03:16 [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 11:03:16 [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 11:03:16 [debug] Moves scheduled 11714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6048, max=17045
Sync err accum 75, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:16 [debug] Driver 0: pos -3437, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 18208, writes 0 timeouts 0
2025-04-24 11:03:16 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36165/37177
2025-04-24 11:03:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:16 [info] currentZPosition:0.0992
2025-04-24 11:03:16 [debug] Stopped at height 0.098 mm
2025-04-24 11:03:18 [debug] Stopped at height 0.098 mm
2025-04-24 11:03:18 [debug] Diagnostics for board 50:
2025-04-24 11:03:18 [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 11:03:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:22 ago, cause: software
2025-04-24 11:03:18 [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 11:03:18 [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 11:03:18 [debug] Moves scheduled 11720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=10, max=93, frequency (Hz): min=6302, max=17857
Sync err accum 59, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:03:18 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21614, writes 0 timeouts 0
2025-04-24 11:03:18 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37174
2025-04-24 11:03:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:18 [info] currentZPosition:0.0978
2025-04-24 11:03:19 [debug] Stopped at height 0.089 mm
2025-04-24 11:03:19 [debug] Diagnostics for board 50:
2025-04-24 11:03:19 [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 11:03:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:24 ago, cause: software
2025-04-24 11:03:19 [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 11:03:19 [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 11:03:19 [debug] Moves scheduled 11724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=17045
Sync err accum 79, peak jitter 2/5, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:19 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 19474, writes 0 timeouts 0
2025-04-24 11:03:19 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37170
2025-04-24 11:03:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:19 [info] currentZPosition:0.0886
2025-04-24 11:03:20 [debug] Stopped at height 0.088 mm
2025-04-24 11:03:21 [debug] Stopped at height 0.096 mm
2025-04-24 11:03:21 [debug] Diagnostics for board 50:
2025-04-24 11:03:21 [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 11:03:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:26 ago, cause: software
2025-04-24 11:03:21 [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 11:03:21 [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 11:03:21 [debug] Moves scheduled 11730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 94, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:21 [debug] Driver 0: pos -3471, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 18843, writes 0 timeouts 0
2025-04-24 11:03:21 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36106/37174
2025-04-24 11:03:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:21 [info] currentZPosition:0.0961
2025-04-24 11:03:21 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:21 [debug] Stopped at height 0.096 mm
2025-04-24 11:03:22 [debug] Stopped at height 0.096 mm
2025-04-24 11:03:23 [debug] Stopped at height 0.098 mm
2025-04-24 11:03:23 [debug] Diagnostics for board 50:
2025-04-24 11:03:23 [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 11:03:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:28 ago, cause: software
2025-04-24 11:03:23 [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 11:03:23 [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 11:03:23 [debug] Moves scheduled 11740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 115, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:23 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 28107, writes 0 timeouts 0
2025-04-24 11:03:23 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 291, adv 36165/37173
2025-04-24 11:03:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:23 [info] currentZPosition:0.0981
2025-04-24 11:03:23 [debug] Stopped at height 0.098 mm
2025-04-24 11:03:25 [debug] Stopped at height 0.098 mm
2025-04-24 11:03:25 [debug] Diagnostics for board 50:
2025-04-24 11:03:25 [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 11:03:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:29 ago, cause: software
2025-04-24 11:03:25 [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 11:03:25 [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 11:03:25 [debug] Moves scheduled 11746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7075, max=17045
Sync err accum 124, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:25 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21043, writes 0 timeouts 0
2025-04-24 11:03:25 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36099/37173
2025-04-24 11:03:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:25 [info] currentZPosition:0.0982
2025-04-24 11:03:26 [debug] Stopped at height 0.102 mm
2025-04-24 11:03:26 [debug] Diagnostics for board 50:
2025-04-24 11:03:26 [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 11:03:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:31 ago, cause: software
2025-04-24 11:03:26 [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 11:03:26 [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 11:03:26 [debug] Moves scheduled 11750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 125, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:26 [debug] Driver 0: pos -3415, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 15405, writes 0 timeouts 0
2025-04-24 11:03:26 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37176
2025-04-24 11:03:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 796
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8576, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 797
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:26 [info] currentZPosition:0.102
2025-04-24 11:03:26 [debug] Stopped at height 0.101 mm
2025-04-24 11:03:28 [debug] Stopped at height 0.092 mm
2025-04-24 11:03:28 [debug] Diagnostics for board 50:
2025-04-24 11:03:28 [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 11:03:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:33 ago, cause: software
2025-04-24 11:03:28 [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 11:03:28 [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 11:03:28 [debug] Moves scheduled 11756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 101, peak jitter -3/-2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:03:28 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 24409, writes 0 timeouts 0
2025-04-24 11:03:28 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36113/37179
2025-04-24 11:03:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:28 [info] currentZPosition:0.0918
2025-04-24 11:03:28 [debug] Stopped at height 0.090 mm
2025-04-24 11:03:29 [debug] Stopped at height 0.088 mm
2025-04-24 11:03:30 [debug] Stopped at height 0.096 mm
2025-04-24 11:03:30 [debug] Diagnostics for board 50:
2025-04-24 11:03:30 [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 11:03:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:35 ago, cause: software
2025-04-24 11:03:30 [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 11:03:30 [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 11:03:30 [debug] Moves scheduled 11764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter -4/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:30 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 23679, writes 0 timeouts 0
2025-04-24 11:03:30 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36168/37176
2025-04-24 11:03:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:30 [info] currentZPosition:0.0955
2025-04-24 11:03:30 [debug] Stopped at height 0.095 mm
2025-04-24 11:03:31 [debug] Stopped at height 0.101 mm
2025-04-24 11:03:31 [debug] Diagnostics for board 50:
2025-04-24 11:03:31 [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 11:03:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:36 ago, cause: software
2025-04-24 11:03:31 [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 11:03:31 [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 11:03:31 [debug] Moves scheduled 11770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 61, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:31 [debug] Driver 0: pos -3433, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 19624, writes 0 timeouts 0
2025-04-24 11:03:31 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36107/37177
2025-04-24 11:03:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8672, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:31 [info] currentZPosition:0.101
2025-04-24 11:03:32 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:33 [debug] Stopped at height 0.091 mm
2025-04-24 11:03:33 [debug] Diagnostics for board 50:
2025-04-24 11:03:33 [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 11:03:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:38 ago, cause: software
2025-04-24 11:03:33 [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 11:03:33 [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 11:03:33 [debug] Moves scheduled 11776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 75, peak jitter -2/4, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:33 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 23546, writes 0 timeouts 0
2025-04-24 11:03:33 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36160/37178
2025-04-24 11:03:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:33 [info] currentZPosition:0.0914
2025-04-24 11:03:34 [debug] Stopped at height 0.090 mm
2025-04-24 11:03:35 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:35 [debug] Diagnostics for board 50:
2025-04-24 11:03:35 [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 11:03:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:40 ago, cause: software
2025-04-24 11:03:35 [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 11:03:35 [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 11:03:35 [debug] Moves scheduled 11782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 90, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:03:35 [debug] Driver 0: pos -3453, 10060.2 steps/mm, standstill, SG min 0, mspos 184, reads 18933, writes 0 timeouts 0
2025-04-24 11:03:35 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36107/37174
2025-04-24 11:03:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:35 [info] currentZPosition:0.0988
2025-04-24 11:03:35 [debug] Stopped at height 0.099 mm
2025-04-24 11:03:36 [debug] Stopped at height 0.101 mm
2025-04-24 11:03:36 [debug] Diagnostics for board 50:
2025-04-24 11:03:36 [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 11:03:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:41 ago, cause: software
2025-04-24 11:03:36 [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 11:03:36 [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 11:03:36 [debug] Moves scheduled 11788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=7075, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:36 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 19987, writes 0 timeouts 0
2025-04-24 11:03:36 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37175
2025-04-24 11:03:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:36 [info] currentZPosition:0.101
2025-04-24 11:03:37 [debug] Stopped at height 0.100 mm
2025-04-24 11:03:38 [debug] Stopped at height 0.097 mm
2025-04-24 11:03:38 [debug] Diagnostics for board 50:
2025-04-24 11:03:38 [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 11:03:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:43 ago, cause: software
2025-04-24 11:03:38 [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 11:03:38 [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 11:03:38 [debug] Moves scheduled 11794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:38 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 22345, writes 0 timeouts 0
2025-04-24 11:03:38 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37176
2025-04-24 11:03:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:38 [info] currentZPosition:0.0965
2025-04-24 11:03:38 [debug] Stopped at height 0.096 mm
2025-04-24 11:03:40 [debug] Stopped at height 0.102 mm
2025-04-24 11:03:40 [debug] Diagnostics for board 50:
2025-04-24 11:03:40 [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 11:03:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:44 ago, cause: software
2025-04-24 11:03:40 [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 11:03:40 [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 11:03:40 [debug] Moves scheduled 11800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 114, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:40 [debug] Driver 0: pos -3425, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 18826, writes 0 timeouts 0
2025-04-24 11:03:40 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36161/37177
2025-04-24 11:03:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 798
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8631, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 800
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:40 [info] currentZPosition:0.102
2025-04-24 11:03:40 [debug] Stopped at height 0.101 mm
2025-04-24 11:03:42 [debug] Stopped at height 0.094 mm
2025-04-24 11:03:42 [debug] Diagnostics for board 50:
2025-04-24 11:03:42 [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 11:03:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:46 ago, cause: software
2025-04-24 11:03:42 [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 11:03:42 [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 11:03:42 [debug] Moves scheduled 11806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 116, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:42 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 23913, writes 0 timeouts 0
2025-04-24 11:03:42 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37177
2025-04-24 11:03:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:42 [info] currentZPosition:0.0935
2025-04-24 11:03:42 [debug] Stopped at height 0.093 mm
2025-04-24 11:03:43 [debug] Stopped at height 0.095 mm
2025-04-24 11:03:43 [debug] Diagnostics for board 50:
2025-04-24 11:03:43 [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 11:03:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:48 ago, cause: software
2025-04-24 11:03:43 [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 11:03:43 [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 11:03:43 [debug] Moves scheduled 11812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17441
Sync err accum 116, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:43 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20043, writes 0 timeouts 0
2025-04-24 11:03:43 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36164/37174
2025-04-24 11:03:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:43 [info] currentZPosition:0.0951
2025-04-24 11:03:44 [debug] Stopped at height 0.094 mm
2025-04-24 11:03:45 [debug] Stopped at height 0.102 mm
2025-04-24 11:03:45 [debug] Diagnostics for board 50:
2025-04-24 11:03:45 [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 11:03:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:49 ago, cause: software
2025-04-24 11:03:45 [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 11:03:45 [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 11:03:45 [debug] Moves scheduled 11818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 111, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:45 [debug] Driver 0: pos -3431, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 18978, writes 0 timeouts 0
2025-04-24 11:03:45 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37175
2025-04-24 11:03:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 799
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8659, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:45 [info] currentZPosition:0.102
2025-04-24 11:03:45 [debug] Stopped at height 0.101 mm
2025-04-24 11:03:46 [debug] Stopped at height 0.094 mm
2025-04-24 11:03:46 [debug] Diagnostics for board 50:
2025-04-24 11:03:46 [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 11:03:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:51 ago, cause: software
2025-04-24 11:03:46 [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 11:03:46 [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 11:03:46 [debug] Moves scheduled 11824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 101, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:03:46 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 23024, writes 0 timeouts 0
2025-04-24 11:03:46 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36153/37176
2025-04-24 11:03:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:47 [info] currentZPosition:0.0939
2025-04-24 11:03:47 [debug] Stopped at height 0.093 mm
2025-04-24 11:03:48 [debug] Stopped at height 0.101 mm
2025-04-24 11:03:48 [debug] Diagnostics for board 50:
2025-04-24 11:03:48 [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 11:03:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:53 ago, cause: software
2025-04-24 11:03:48 [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 11:03:48 [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 11:03:48 [debug] Moves scheduled 11830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 90, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:48 [debug] Driver 0: pos -3441, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 18952, writes 0 timeouts 0
2025-04-24 11:03:48 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 292, adv 36099/37176
2025-04-24 11:03:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:48 [info] currentZPosition:0.101
2025-04-24 11:03:48 [debug] Stopped at height 0.102 mm
2025-04-24 11:03:50 [debug] Stopped at height 0.103 mm
2025-04-24 11:03:50 [debug] Diagnostics for board 50:
2025-04-24 11:03:50 [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 11:03:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:54 ago, cause: software
2025-04-24 11:03:50 [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 11:03:50 [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 11:03:50 [debug] Moves scheduled 11836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 74, peak jitter -2/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:50 [debug] Driver 0: pos -3423, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 19674, writes 0 timeouts 0
2025-04-24 11:03:50 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37179
2025-04-24 11:03:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8624, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:50 [info] currentZPosition:0.103
2025-04-24 11:03:51 [debug] Stopped at height 0.095 mm
2025-04-24 11:03:51 [debug] Diagnostics for board 50:
2025-04-24 11:03:51 [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 11:03:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:56 ago, cause: software
2025-04-24 11:03:51 [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 11:03:51 [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 11:03:51 [debug] Moves scheduled 11840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 61, peak jitter -3/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:51 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 19546, writes 0 timeouts 0
2025-04-24 11:03:51 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37180
2025-04-24 11:03:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:51 [info] currentZPosition:0.0952
2025-04-24 11:03:52 [debug] Stopped at height 0.094 mm
2025-04-24 11:03:53 [debug] Stopped at height 0.100 mm
2025-04-24 11:03:53 [debug] Diagnostics for board 50:
2025-04-24 11:03:53 [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 11:03:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:57 ago, cause: software
2025-04-24 11:03:53 [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 11:03:53 [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 11:03:53 [debug] Moves scheduled 11846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 76, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:03:53 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 19037, writes 0 timeouts 0
2025-04-24 11:03:53 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37173
2025-04-24 11:03:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:53 [info] currentZPosition:0.100
2025-04-24 11:03:53 [debug] Stopped at height 0.100 mm
2025-04-24 11:03:55 [debug] Stopped at height 0.093 mm
2025-04-24 11:03:55 [debug] Diagnostics for board 50:
2025-04-24 11:03:55 [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 11:03:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:05:59 ago, cause: software
2025-04-24 11:03:55 [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 11:03:55 [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 11:03:55 [debug] Moves scheduled 11852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6250, max=17857
Sync err accum 94, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:03:55 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 23241, writes 0 timeouts 0
2025-04-24 11:03:55 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37172
2025-04-24 11:03:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:55 [info] currentZPosition:0.0934
2025-04-24 11:03:55 [debug] Stopped at height 0.094 mm
2025-04-24 11:03:56 [debug] Stopped at height 0.094 mm
2025-04-24 11:03:56 [debug] Diagnostics for board 50:
2025-04-24 11:03:56 [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 11:03:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:01 ago, cause: software
2025-04-24 11:03:56 [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 11:03:56 [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 11:03:56 [debug] Moves scheduled 11858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=18292
Sync err accum 104, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:56 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20177, writes 0 timeouts 0
2025-04-24 11:03:56 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36283/37175
2025-04-24 11:03:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:56 [info] currentZPosition:0.0942
2025-04-24 11:03:57 [debug] Stopped at height 0.102 mm
2025-04-24 11:03:57 [debug] Diagnostics for board 50:
2025-04-24 11:03:57 [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 11:03:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:02 ago, cause: software
2025-04-24 11:03:57 [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 11:03:57 [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 11:03:57 [debug] Moves scheduled 11862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 114, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:03:57 [debug] Driver 0: pos -3434, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 14705, writes 0 timeouts 0
2025-04-24 11:03:57 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37173
2025-04-24 11:03:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8675, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 802
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:57 [info] currentZPosition:0.102
2025-04-24 11:03:58 [debug] Stopped at height 0.101 mm
2025-04-24 11:03:59 [debug] Stopped at height 0.096 mm
2025-04-24 11:03:59 [debug] Diagnostics for board 50:
2025-04-24 11:03:59 [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 11:03:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:04 ago, cause: software
2025-04-24 11:03:59 [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 11:03:59 [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 11:03:59 [debug] Moves scheduled 11868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 122, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:03:59 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 22587, writes 0 timeouts 0
2025-04-24 11:03:59 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37174
2025-04-24 11:03:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:03:59 [info] currentZPosition:0.0957
2025-04-24 11:04:00 [debug] Stopped at height 0.094 mm
2025-04-24 11:04:01 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:01 [debug] Diagnostics for board 50:
2025-04-24 11:04:01 [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 11:04:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:05 ago, cause: software
2025-04-24 11:04:01 [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 11:04:01 [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 11:04:01 [debug] Moves scheduled 11874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 126, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:01 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 19334, writes 0 timeouts 0
2025-04-24 11:04:01 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37176
2025-04-24 11:04:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:01 [info] currentZPosition:0.102
2025-04-24 11:04:01 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:02 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:02 [debug] Diagnostics for board 50:
2025-04-24 11:04:02 [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 11:04:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:07 ago, cause: software
2025-04-24 11:04:02 [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 11:04:02 [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 11:04:02 [debug] Moves scheduled 11880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=18292
Sync err accum 126, peak jitter 0/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935097 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:02 [debug] Driver 0: pos -3436, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20561, writes 0 timeouts 0
2025-04-24 11:04:02 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36398/37176
2025-04-24 11:04:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:02 [info] currentZPosition:0.102
2025-04-24 11:04:04 [debug] Stopped at height 0.096 mm
2025-04-24 11:04:04 [debug] Diagnostics for board 50:
2025-04-24 11:04:04 [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 11:04:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:09 ago, cause: software
2025-04-24 11:04:04 [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 11:04:04 [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 11:04:04 [debug] Moves scheduled 11884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 125, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:04 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 19046, writes 0 timeouts 0
2025-04-24 11:04:04 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36087/37177
2025-04-24 11:04:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:04 [info] currentZPosition:0.0963
2025-04-24 11:04:04 [debug] Stopped at height 0.096 mm
2025-04-24 11:04:05 [debug] Stopped at height 0.104 mm
2025-04-24 11:04:05 [debug] Diagnostics for board 50:
2025-04-24 11:04:05 [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 11:04:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:06:10 ago, cause: software
2025-04-24 11:04:05 [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 11:04:05 [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 11:04:05 [debug] Moves scheduled 11890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 121, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:05 [debug] Driver 0: pos -3420, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 18172, writes 0 timeouts 0
2025-04-24 11:04:05 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36398/37177
2025-04-24 11:04:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 801
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8607, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 798
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:05 [info] currentZPosition:0.104
2025-04-24 11:04:06 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:06 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:08 [debug] Stopped at height 0.096 mm
2025-04-24 11:04:08 [debug] Diagnostics for board 50:
2025-04-24 11:04:08 [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 11:04:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:12 ago, cause: software
2025-04-24 11:04:08 [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 11:04:08 [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 11:04:08 [debug] Moves scheduled 11898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 27937, writes 0 timeouts 0
2025-04-24 11:04:08 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36108/37178
2025-04-24 11:04:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:08 [info] currentZPosition:0.0957
2025-04-24 11:04:08 [debug] Stopped at height 0.096 mm
2025-04-24 11:04:09 [debug] Stopped at height 0.098 mm
2025-04-24 11:04:09 [debug] Diagnostics for board 50:
2025-04-24 11:04:09 [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 11:04:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:14 ago, cause: software
2025-04-24 11:04:09 [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 11:04:09 [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 11:04:09 [debug] Moves scheduled 11904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 104, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:09 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 19842, writes 0 timeouts 0
2025-04-24 11:04:09 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37178
2025-04-24 11:04:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:09 [info] currentZPosition:0.0979
2025-04-24 11:04:10 [debug] Stopped at height 0.097 mm
2025-04-24 11:04:11 [debug] Stopped at height 0.103 mm
2025-04-24 11:04:11 [debug] Diagnostics for board 50:
2025-04-24 11:04:11 [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 11:04:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:15 ago, cause: software
2025-04-24 11:04:11 [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 11:04:11 [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 11:04:11 [debug] Moves scheduled 11910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=18292
Sync err accum 82, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:11 [debug] Driver 0: pos -3438, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 19717, writes 0 timeouts 0
2025-04-24 11:04:11 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36113/37179
2025-04-24 11:04:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:11 [info] currentZPosition:0.103
2025-04-24 11:04:11 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:12 [debug] Stopped at height 0.096 mm
2025-04-24 11:04:12 [debug] Diagnostics for board 50:
2025-04-24 11:04:12 [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 11:04:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:17 ago, cause: software
2025-04-24 11:04:12 [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 11:04:12 [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 11:04:12 [debug] Moves scheduled 11916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:12 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 22590, writes 0 timeouts 0
2025-04-24 11:04:12 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37179
2025-04-24 11:04:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:13 [info] currentZPosition:0.0963
2025-04-24 11:04:13 [debug] Stopped at height 0.096 mm
2025-04-24 11:04:14 [debug] Stopped at height 0.104 mm
2025-04-24 11:04:14 [debug] Diagnostics for board 50:
2025-04-24 11:04:14 [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 11:04:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:19 ago, cause: software
2025-04-24 11:04:14 [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 11:04:14 [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 11:04:14 [debug] Moves scheduled 11922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 71, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:14 [debug] Driver 0: pos -3429, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 18755, writes 0 timeouts 0
2025-04-24 11:04:14 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36104/37174
2025-04-24 11:04:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8647, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 799
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:14 [info] currentZPosition:0.104
2025-04-24 11:04:14 [debug] Stopped at height 0.103 mm
2025-04-24 11:04:16 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:16 [debug] Diagnostics for board 50:
2025-04-24 11:04:16 [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 11:04:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:20 ago, cause: software
2025-04-24 11:04:16 [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 11:04:16 [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 11:04:16 [debug] Moves scheduled 11928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:04:16 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21248, writes 0 timeouts 0
2025-04-24 11:04:16 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37173
2025-04-24 11:04:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:16 [info] currentZPosition:0.102
2025-04-24 11:04:17 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:17 [debug] Diagnostics for board 50:
2025-04-24 11:04:17 [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 11:04:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:22 ago, cause: software
2025-04-24 11:04:17 [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 11:04:17 [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 11:04:17 [debug] Moves scheduled 11932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:17 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17466, writes 0 timeouts 0
2025-04-24 11:04:17 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37172
2025-04-24 11:04:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:17 [info] currentZPosition:0.101
2025-04-24 11:04:18 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:18 [debug] Diagnostics for board 50:
2025-04-24 11:04:18 [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 11:04:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:23 ago, cause: software
2025-04-24 11:04:18 [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 11:04:18 [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 11:04:18 [debug] Moves scheduled 11936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 98, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:18 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16144, writes 0 timeouts 0
2025-04-24 11:04:18 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37170
2025-04-24 11:04:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:18 [info] currentZPosition:0.102
2025-04-24 11:04:19 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:20 [debug] Stopped at height 0.097 mm
2025-04-24 11:04:20 [debug] Diagnostics for board 50:
2025-04-24 11:04:20 [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 11:04:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:25 ago, cause: software
2025-04-24 11:04:20 [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 11:04:20 [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 11:04:20 [debug] Moves scheduled 11942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5813, max=17045
Sync err accum 102, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:20 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 22790, writes 0 timeouts 0
2025-04-24 11:04:20 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 11:04:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:20 [info] currentZPosition:0.0967
2025-04-24 11:04:21 [debug] Stopped at height 0.097 mm
2025-04-24 11:04:22 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:22 [debug] Diagnostics for board 50:
2025-04-24 11:04:22 [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 11:04:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:27 ago, cause: software
2025-04-24 11:04:22 [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 11:04:22 [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 11:04:22 [debug] Moves scheduled 11948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 103, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:22 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 19016, writes 0 timeouts 0
2025-04-24 11:04:22 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36401/37177
2025-04-24 11:04:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:22 [info] currentZPosition:0.101
2025-04-24 11:04:22 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:23 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:23 [debug] Diagnostics for board 50:
2025-04-24 11:04:23 [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 11:04:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:28 ago, cause: software
2025-04-24 11:04:23 [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 11:04:23 [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 11:04:23 [debug] Moves scheduled 11954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5859, max=17045
Sync err accum 101, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:23 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21112, writes 0 timeouts 0
2025-04-24 11:04:23 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37177
2025-04-24 11:04:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:23 [info] currentZPosition:0.102
2025-04-24 11:04:25 [debug] Stopped at height 0.098 mm
2025-04-24 11:04:25 [debug] Diagnostics for board 50:
2025-04-24 11:04:25 [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 11:04:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:30 ago, cause: software
2025-04-24 11:04:25 [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 11:04:25 [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 11:04:25 [debug] Moves scheduled 11958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:25 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17729, writes 0 timeouts 0
2025-04-24 11:04:25 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36405/37178
2025-04-24 11:04:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:25 [info] currentZPosition:0.0983
2025-04-24 11:04:25 [debug] Stopped at height 0.097 mm
2025-04-24 11:04:26 [debug] Stopped at height 0.096 mm
2025-04-24 11:04:27 [debug] Stopped at height 0.104 mm
2025-04-24 11:04:27 [debug] Diagnostics for board 50:
2025-04-24 11:04:27 [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 11:04:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:32 ago, cause: software
2025-04-24 11:04:27 [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 11:04:27 [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 11:04:27 [debug] Moves scheduled 11966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 89, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:27 [debug] Driver 0: pos -3429, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 23341, writes 0 timeouts 0
2025-04-24 11:04:27 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36109/37177
2025-04-24 11:04:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 802
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8653, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 801
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:27 [info] currentZPosition:0.104
2025-04-24 11:04:27 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:27 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:29 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:29 [debug] Diagnostics for board 50:
2025-04-24 11:04:29 [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 11:04:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:34 ago, cause: software
2025-04-24 11:04:29 [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 11:04:29 [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 11:04:29 [debug] Moves scheduled 11974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294928799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:29 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 25890, writes 0 timeouts 0
2025-04-24 11:04:29 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 286, adv 36404/37179
2025-04-24 11:04:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:29 [info] currentZPosition:0.101
2025-04-24 11:04:30 [debug] Stopped at height 0.100 mm
2025-04-24 11:04:30 [debug] Diagnostics for board 50:
2025-04-24 11:04:30 [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 11:04:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:35 ago, cause: software
2025-04-24 11:04:30 [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 11:04:30 [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 11:04:30 [debug] Moves scheduled 11978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
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 4294935807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:30 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17593, writes 0 timeouts 0
2025-04-24 11:04:30 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 11:04:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:30 [info] currentZPosition:0.0996
2025-04-24 11:04:31 [debug] Stopped at height 0.099 mm
2025-04-24 11:04:32 [debug] Stopped at height 0.103 mm
2025-04-24 11:04:32 [debug] Diagnostics for board 50:
2025-04-24 11:04:32 [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 11:04:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:37 ago, cause: software
2025-04-24 11:04:32 [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 11:04:32 [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 11:04:32 [debug] Moves scheduled 11984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17857
Sync err accum 72, peak jitter -1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:32 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 19583, writes 0 timeouts 0
2025-04-24 11:04:32 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36393/37177
2025-04-24 11:04:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:32 [info] currentZPosition:0.103
2025-04-24 11:04:32 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:33 [debug] Stopped at height 0.100 mm
2025-04-24 11:04:34 [debug] Stopped at height 0.099 mm
2025-04-24 11:04:34 [debug] Diagnostics for board 50:
2025-04-24 11:04:34 [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 11:04:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:06:39 ago, cause: software
2025-04-24 11:04:34 [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 11:04:34 [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 11:04:34 [debug] Moves scheduled 11992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 90, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:04:34 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 26311, writes 0 timeouts 0
2025-04-24 11:04:34 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 289, adv 36108/37175
2025-04-24 11:04:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:34 [info] currentZPosition:0.0994
2025-04-24 11:04:35 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:35 [debug] Diagnostics for board 50:
2025-04-24 11:04:35 [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 11:04:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:40 ago, cause: software
2025-04-24 11:04:35 [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 11:04:35 [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 11:04:35 [debug] Moves scheduled 11996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=62, frequency (Hz): min=5859, max=17045
Sync err accum 102, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:35 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 15845, writes 0 timeouts 0
2025-04-24 11:04:35 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36374/37175
2025-04-24 11:04:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:35 [info] currentZPosition:0.102
2025-04-24 11:04:36 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:37 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:37 [debug] Diagnostics for board 50:
2025-04-24 11:04:37 [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 11:04:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:42 ago, cause: software
2025-04-24 11:04:37 [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 11:04:37 [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 11:04:37 [debug] Moves scheduled 12002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=18292
Sync err accum 112, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:37 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21341, writes 0 timeouts 0
2025-04-24 11:04:37 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37175
2025-04-24 11:04:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:37 [info] currentZPosition:0.101
2025-04-24 11:04:38 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:38 [debug] Diagnostics for board 50:
2025-04-24 11:04:38 [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 11:04:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:43 ago, cause: software
2025-04-24 11:04:38 [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 11:04:38 [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 11:04:38 [debug] Moves scheduled 12006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 122, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:38 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16597, writes 0 timeouts 0
2025-04-24 11:04:38 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37175
2025-04-24 11:04:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:38 [info] currentZPosition:0.101
2025-04-24 11:04:39 [debug] Stopped at height 0.103 mm
2025-04-24 11:04:39 [debug] Diagnostics for board 50:
2025-04-24 11:04:39 [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 11:04:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:44 ago, cause: software
2025-04-24 11:04:39 [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 11:04:39 [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 11:04:39 [debug] Moves scheduled 12010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 128, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:39 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16592, writes 0 timeouts 0
2025-04-24 11:04:39 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37175
2025-04-24 11:04:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:40 [info] currentZPosition:0.103
2025-04-24 11:04:40 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:41 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:41 [debug] Diagnostics for board 50:
2025-04-24 11:04:41 [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 11:04:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:46 ago, cause: software
2025-04-24 11:04:41 [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 11:04:41 [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 11:04:41 [debug] Moves scheduled 12016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6147, max=18292
Sync err accum 117, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:41 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20718, writes 0 timeouts 0
2025-04-24 11:04:41 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 294, adv 36405/37178
2025-04-24 11:04:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:41 [info] currentZPosition:0.102
2025-04-24 11:04:43 [debug] Stopped at height 0.103 mm
2025-04-24 11:04:43 [debug] Diagnostics for board 50:
2025-04-24 11:04:43 [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 11:04:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:47 ago, cause: software
2025-04-24 11:04:43 [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 11:04:43 [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 11:04:43 [debug] Moves scheduled 12020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 101, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:43 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17037, writes 0 timeouts 0
2025-04-24 11:04:43 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37179
2025-04-24 11:04:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:43 [info] currentZPosition:0.103
2025-04-24 11:04:44 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:44 [debug] Diagnostics for board 50:
2025-04-24 11:04:44 [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 11:04:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:49 ago, cause: software
2025-04-24 11:04:44 [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 11:04:44 [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 11:04:44 [debug] Moves scheduled 12024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 87, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294936747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:44 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16742, writes 0 timeouts 0
2025-04-24 11:04:44 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36406/37179
2025-04-24 11:04:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:44 [info] currentZPosition:0.102
2025-04-24 11:04:45 [debug] Stopped at height 0.100 mm
2025-04-24 11:04:45 [debug] Diagnostics for board 50:
2025-04-24 11:04:45 [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 11:04:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:50 ago, cause: software
2025-04-24 11:04:45 [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 11:04:45 [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 11:04:45 [debug] Moves scheduled 12028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 69, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:45 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17750, writes 0 timeouts 0
2025-04-24 11:04:45 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36114/37177
2025-04-24 11:04:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:45 [info] currentZPosition:0.100
2025-04-24 11:04:46 [debug] Stopped at height 0.100 mm
2025-04-24 11:04:47 [debug] Stopped at height 0.103 mm
2025-04-24 11:04:47 [debug] Diagnostics for board 50:
2025-04-24 11:04:47 [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 11:04:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:52 ago, cause: software
2025-04-24 11:04:47 [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 11:04:47 [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 11:04:47 [debug] Moves scheduled 12034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 66, peak jitter -4/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:47 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 19881, writes 0 timeouts 0
2025-04-24 11:04:47 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37180
2025-04-24 11:04:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:47 [info] currentZPosition:0.103
2025-04-24 11:04:47 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:49 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:49 [debug] Diagnostics for board 50:
2025-04-24 11:04:49 [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 11:04:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:53 ago, cause: software
2025-04-24 11:04:49 [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 11:04:49 [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 11:04:49 [debug] Moves scheduled 12040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6355, max=17045
Sync err accum 86, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:49 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 21374, writes 0 timeouts 0
2025-04-24 11:04:49 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37175
2025-04-24 11:04:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:49 [info] currentZPosition:0.102
2025-04-24 11:04:50 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:50 [debug] Diagnostics for board 50:
2025-04-24 11:04:50 [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 11:04:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:55 ago, cause: software
2025-04-24 11:04:50 [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 11:04:50 [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 11:04:50 [debug] Moves scheduled 12044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=80, frequency (Hz): min=6818, max=17045
Sync err accum 98, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:50 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16639, writes 0 timeouts 0
2025-04-24 11:04:50 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37174
2025-04-24 11:04:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:50 [info] currentZPosition:0.102
2025-04-24 11:04:51 [debug] Stopped at height 0.103 mm
2025-04-24 11:04:51 [debug] Diagnostics for board 50:
2025-04-24 11:04:51 [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 11:04:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:56 ago, cause: software
2025-04-24 11:04:51 [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 11:04:51 [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 11:04:51 [debug] Moves scheduled 12048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 109, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:51 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16960, writes 0 timeouts 0
2025-04-24 11:04:51 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37175
2025-04-24 11:04:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:51 [info] currentZPosition:0.103
2025-04-24 11:04:53 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:53 [debug] Diagnostics for board 50:
2025-04-24 11:04:53 [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 11:04:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:57 ago, cause: software
2025-04-24 11:04:53 [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 11:04:53 [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 11:04:53 [debug] Moves scheduled 12052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6302, max=17045
Sync err accum 120, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:53 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16762, writes 0 timeouts 0
2025-04-24 11:04:53 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37176
2025-04-24 11:04:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:53 [info] currentZPosition:0.102
2025-04-24 11:04:54 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:54 [debug] Diagnostics for board 50:
2025-04-24 11:04:54 [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 11:04:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:06:59 ago, cause: software
2025-04-24 11:04:54 [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 11:04:54 [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 11:04:54 [debug] Moves scheduled 12056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 126, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:04:54 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17169, writes 0 timeouts 0
2025-04-24 11:04:54 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37175
2025-04-24 11:04:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:54 [info] currentZPosition:0.102
2025-04-24 11:04:55 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:55 [debug] Diagnostics for board 50:
2025-04-24 11:04:55 [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 11:04:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:00 ago, cause: software
2025-04-24 11:04:55 [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 11:04:55 [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 11:04:55 [debug] Moves scheduled 12060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=7075, max=17045
Sync err accum 124, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:55 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16430, writes 0 timeouts 0
2025-04-24 11:04:55 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36287/37174
2025-04-24 11:04:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:55 [info] currentZPosition:0.102
2025-04-24 11:04:57 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:57 [debug] Diagnostics for board 50:
2025-04-24 11:04:57 [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 11:04:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:01 ago, cause: software
2025-04-24 11:04:57 [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 11:04:57 [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 11:04:57 [debug] Moves scheduled 12064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 115, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:57 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17254, writes 0 timeouts 0
2025-04-24 11:04:57 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37179
2025-04-24 11:04:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:57 [info] currentZPosition:0.102
2025-04-24 11:04:58 [debug] Stopped at height 0.102 mm
2025-04-24 11:04:58 [debug] Diagnostics for board 50:
2025-04-24 11:04:58 [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 11:04:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:03 ago, cause: software
2025-04-24 11:04:58 [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 11:04:58 [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 11:04:58 [debug] Moves scheduled 12068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 103, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:04:58 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16705, writes 0 timeouts 0
2025-04-24 11:04:58 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37176
2025-04-24 11:04:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:58 [info] currentZPosition:0.102
2025-04-24 11:04:59 [debug] Stopped at height 0.101 mm
2025-04-24 11:04:59 [debug] Diagnostics for board 50:
2025-04-24 11:04:59 [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 11:04:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:04 ago, cause: software
2025-04-24 11:04:59 [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 11:04:59 [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 11:04:59 [debug] Moves scheduled 12072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 89, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:04:59 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17332, writes 0 timeouts 0
2025-04-24 11:04:59 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37180
2025-04-24 11:04:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:04:59 [info] currentZPosition:0.101
2025-04-24 11:05:01 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:01 [debug] Diagnostics for board 50:
2025-04-24 11:05:01 [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 11:05:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:06 ago, cause: software
2025-04-24 11:05:01 [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 11:05:01 [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 11:05:01 [debug] Moves scheduled 12076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6410, max=18292
Sync err accum 73, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:05:01 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16230, writes 0 timeouts 0
2025-04-24 11:05:01 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37176
2025-04-24 11:05:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:01 [info] currentZPosition:0.103
2025-04-24 11:05:02 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:02 [debug] Diagnostics for board 50:
2025-04-24 11:05:02 [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 11:05:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:07:07 ago, cause: software
2025-04-24 11:05:02 [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 11:05:02 [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 11:05:02 [debug] Moves scheduled 12080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 61, peak jitter -4/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:02 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17339, writes 0 timeouts 0
2025-04-24 11:05:02 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:05:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:02 [info] currentZPosition:0.102
2025-04-24 11:05:03 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:03 [debug] Diagnostics for board 50:
2025-04-24 11:05:03 [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 11:05:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:08 ago, cause: software
2025-04-24 11:05:03 [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 11:05:03 [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 11:05:03 [debug] Moves scheduled 12084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 70, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:03 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16298, writes 0 timeouts 0
2025-04-24 11:05:03 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36164/37174
2025-04-24 11:05:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:03 [info] currentZPosition:0.103
2025-04-24 11:05:05 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:05 [debug] Diagnostics for board 50:
2025-04-24 11:05:05 [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 11:05:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:10 ago, cause: software
2025-04-24 11:05:05 [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 11:05:05 [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 11:05:05 [debug] Moves scheduled 12088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:05 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17604, writes 0 timeouts 0
2025-04-24 11:05:05 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37172
2025-04-24 11:05:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:05 [info] currentZPosition:0.102
2025-04-24 11:05:05 [debug] Stopped at height 0.100 mm
2025-04-24 11:05:06 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:06 [debug] Diagnostics for board 50:
2025-04-24 11:05:06 [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 11:05:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:11 ago, cause: software
2025-04-24 11:05:06 [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 11:05:06 [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 11:05:06 [debug] Moves scheduled 12094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:06 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20565, writes 0 timeouts 0
2025-04-24 11:05:06 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36157/37172
2025-04-24 11:05:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:07 [info] currentZPosition:0.102
2025-04-24 11:05:07 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:08 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:08 [debug] Diagnostics for board 50:
2025-04-24 11:05:08 [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 11:05:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:13 ago, cause: software
2025-04-24 11:05:08 [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 11:05:08 [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 11:05:08 [debug] Moves scheduled 12100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17045
Sync err accum 92, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:08 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 20849, writes 0 timeouts 0
2025-04-24 11:05:08 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37176
2025-04-24 11:05:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:08 [info] currentZPosition:0.103
2025-04-24 11:05:09 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:09 [debug] Diagnostics for board 50:
2025-04-24 11:05:09 [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 11:05:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:14 ago, cause: software
2025-04-24 11:05:09 [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 11:05:09 [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 11:05:09 [debug] Moves scheduled 12104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:09 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16888, writes 0 timeouts 0
2025-04-24 11:05:09 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36164/37177
2025-04-24 11:05:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:10 [info] currentZPosition:0.102
2025-04-24 11:05:11 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:11 [debug] Diagnostics for board 50:
2025-04-24 11:05:11 [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 11:05:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:16 ago, cause: software
2025-04-24 11:05:11 [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 11:05:11 [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 11:05:11 [debug] Moves scheduled 12108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 91, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:11 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16756, writes 0 timeouts 0
2025-04-24 11:05:11 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37174
2025-04-24 11:05:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:11 [info] currentZPosition:0.103
2025-04-24 11:05:12 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:12 [debug] Diagnostics for board 50:
2025-04-24 11:05:12 [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 11:05:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:17 ago, cause: software
2025-04-24 11:05:12 [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 11:05:12 [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 11:05:12 [debug] Moves scheduled 12112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:12 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16416, writes 0 timeouts 0
2025-04-24 11:05:12 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37176
2025-04-24 11:05:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 803
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:12 [info] currentZPosition:0.103
2025-04-24 11:05:14 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:14 [debug] Diagnostics for board 50:
2025-04-24 11:05:14 [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 11:05:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:18 ago, cause: software
2025-04-24 11:05:14 [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 11:05:14 [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 11:05:14 [debug] Moves scheduled 12116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 83, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:14 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17622, writes 0 timeouts 0
2025-04-24 11:05:14 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36122/37170
2025-04-24 11:05:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:14 [info] currentZPosition:0.102
2025-04-24 11:05:14 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:15 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:15 [debug] Diagnostics for board 50:
2025-04-24 11:05:15 [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 11:05:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:20 ago, cause: software
2025-04-24 11:05:15 [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 11:05:15 [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 11:05:15 [debug] Moves scheduled 12122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:15 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20420, writes 0 timeouts 0
2025-04-24 11:05:15 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37178
2025-04-24 11:05:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:15 [info] currentZPosition:0.102
2025-04-24 11:05:17 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:17 [debug] Diagnostics for board 50:
2025-04-24 11:05:17 [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 11:05:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:21 ago, cause: software
2025-04-24 11:05:17 [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 11:05:17 [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 11:05:17 [debug] Moves scheduled 12126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:17 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17061, writes 0 timeouts 0
2025-04-24 11:05:17 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37177
2025-04-24 11:05:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:17 [info] currentZPosition:0.102
2025-04-24 11:05:18 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:18 [debug] Diagnostics for board 50:
2025-04-24 11:05:18 [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 11:05:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:23 ago, cause: software
2025-04-24 11:05:18 [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 11:05:18 [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 11:05:18 [debug] Moves scheduled 12130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=521, max=17045
Sync err accum 68, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:18 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16599, writes 11 timeouts 1
2025-04-24 11:05:18 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37173
2025-04-24 11:05:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:18 [info] currentZPosition:0.102
2025-04-24 11:05:19 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:19 [debug] Diagnostics for board 50:
2025-04-24 11:05:19 [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 11:05:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:24 ago, cause: software
2025-04-24 11:05:19 [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 11:05:19 [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 11:05:19 [debug] Moves scheduled 12134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:19 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16910, writes 0 timeouts 0
2025-04-24 11:05:19 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36108/37176
2025-04-24 11:05:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:19 [info] currentZPosition:0.103
2025-04-24 11:05:21 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:21 [debug] Diagnostics for board 50:
2025-04-24 11:05:21 [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 11:05:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:25 ago, cause: software
2025-04-24 11:05:21 [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 11:05:21 [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 11:05:21 [debug] Moves scheduled 12138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:21 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16885, writes 0 timeouts 0
2025-04-24 11:05:21 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37174
2025-04-24 11:05:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:21 [info] currentZPosition:0.102
2025-04-24 11:05:22 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:22 [debug] Diagnostics for board 50:
2025-04-24 11:05:22 [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 11:05:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:27 ago, cause: software
2025-04-24 11:05:22 [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 11:05:22 [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 11:05:22 [debug] Moves scheduled 12142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:22 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16972, writes 0 timeouts 0
2025-04-24 11:05:22 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37177
2025-04-24 11:05:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:22 [info] currentZPosition:0.103
2025-04-24 11:05:23 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:23 [debug] Diagnostics for board 50:
2025-04-24 11:05:23 [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 11:05:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:28 ago, cause: software
2025-04-24 11:05:23 [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 11:05:23 [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 11:05:23 [debug] Moves scheduled 12146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:23 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16585, writes 0 timeouts 0
2025-04-24 11:05:23 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37175
2025-04-24 11:05:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:23 [info] currentZPosition:0.103
2025-04-24 11:05:25 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:25 [debug] Diagnostics for board 50:
2025-04-24 11:05:25 [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 11:05:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:29 ago, cause: software
2025-04-24 11:05:25 [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 11:05:25 [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 11:05:25 [debug] Moves scheduled 12150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 71, peak jitter -1/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:25 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17174, writes 0 timeouts 0
2025-04-24 11:05:25 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36112/37177
2025-04-24 11:05:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:25 [info] currentZPosition:0.103
2025-04-24 11:05:26 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:26 [debug] Diagnostics for board 50:
2025-04-24 11:05:26 [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 11:05:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:31 ago, cause: software
2025-04-24 11:05:26 [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 11:05:26 [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 11:05:26 [debug] Moves scheduled 12154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=18292
Sync err accum 64, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:26 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16736, writes 0 timeouts 0
2025-04-24 11:05:26 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37176
2025-04-24 11:05:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:26 [info] currentZPosition:0.102
2025-04-24 11:05:27 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:27 [debug] Diagnostics for board 50:
2025-04-24 11:05:27 [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 11:05:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:32 ago, cause: software
2025-04-24 11:05:27 [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 11:05:27 [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 11:05:27 [debug] Moves scheduled 12158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
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 4294933073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:27 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17340, writes 0 timeouts 0
2025-04-24 11:05:27 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37178
2025-04-24 11:05:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:27 [info] currentZPosition:0.102
2025-04-24 11:05:29 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:29 [debug] Diagnostics for board 50:
2025-04-24 11:05:29 [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 11:05:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:33 ago, cause: software
2025-04-24 11:05:29 [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 11:05:29 [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 11:05:29 [debug] Moves scheduled 12162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 78, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:29 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16393, writes 0 timeouts 0
2025-04-24 11:05:29 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36160/37175
2025-04-24 11:05:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:29 [info] currentZPosition:0.103
2025-04-24 11:05:30 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:30 [debug] Diagnostics for board 50:
2025-04-24 11:05:30 [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 11:05:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:35 ago, cause: software
2025-04-24 11:05:30 [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 11:05:30 [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 11:05:30 [debug] Moves scheduled 12166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:30 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16906, writes 0 timeouts 0
2025-04-24 11:05:30 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37174
2025-04-24 11:05:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:30 [info] currentZPosition:0.103
2025-04-24 11:05:31 [debug] Stopped at height 0.101 mm
2025-04-24 11:05:31 [debug] Diagnostics for board 50:
2025-04-24 11:05:31 [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 11:05:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:36 ago, cause: software
2025-04-24 11:05:31 [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 11:05:31 [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 11:05:31 [debug] Moves scheduled 12170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6944, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:31 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17277, writes 0 timeouts 0
2025-04-24 11:05:31 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36165/37172
2025-04-24 11:05:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:31 [info] currentZPosition:0.101
2025-04-24 11:05:32 [debug] Stopped at height 0.101 mm
2025-04-24 11:05:33 [debug] Stopped at height 0.101 mm
2025-04-24 11:05:33 [debug] Diagnostics for board 50:
2025-04-24 11:05:33 [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 11:05:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:38 ago, cause: software
2025-04-24 11:05:33 [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 11:05:33 [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 11:05:33 [debug] Moves scheduled 12176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:33 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 21053, writes 0 timeouts 0
2025-04-24 11:05:33 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37176
2025-04-24 11:05:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:33 [info] currentZPosition:0.101
2025-04-24 11:05:34 [debug] Stopped at height 0.101 mm
2025-04-24 11:05:34 [debug] Diagnostics for board 50:
2025-04-24 11:05:34 [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 11:05:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:39 ago, cause: software
2025-04-24 11:05:34 [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 11:05:34 [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 11:05:34 [debug] Moves scheduled 12180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:34 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16606, writes 0 timeouts 0
2025-04-24 11:05:34 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36162/37174
2025-04-24 11:05:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:34 [info] currentZPosition:0.101
2025-04-24 11:05:36 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:36 [debug] Diagnostics for board 50:
2025-04-24 11:05:36 [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 11:05:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:41 ago, cause: software
2025-04-24 11:05:36 [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 11:05:36 [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 11:05:36 [debug] Moves scheduled 12184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=589, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:36 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17002, writes 11 timeouts 1
2025-04-24 11:05:36 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37171
2025-04-24 11:05:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:36 [info] currentZPosition:0.102
2025-04-24 11:05:37 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:37 [debug] Diagnostics for board 50:
2025-04-24 11:05:37 [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 11:05:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:42 ago, cause: software
2025-04-24 11:05:37 [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 11:05:37 [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 11:05:37 [debug] Moves scheduled 12188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:37 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16627, writes 0 timeouts 0
2025-04-24 11:05:37 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36168/37176
2025-04-24 11:05:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:37 [info] currentZPosition:0.102
2025-04-24 11:05:38 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:38 [debug] Diagnostics for board 50:
2025-04-24 11:05:38 [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 11:05:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:43 ago, cause: software
2025-04-24 11:05:38 [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 11:05:38 [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 11:05:38 [debug] Moves scheduled 12192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:38 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16778, writes 0 timeouts 0
2025-04-24 11:05:38 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36113/37178
2025-04-24 11:05:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:39 [info] currentZPosition:0.103
2025-04-24 11:05:39 [debug] Stopped at height 0.105 mm
2025-04-24 11:05:39 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:40 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:40 [debug] Diagnostics for board 50:
2025-04-24 11:05:40 [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 11:05:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:45 ago, cause: software
2025-04-24 11:05:40 [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 11:05:40 [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 11:05:40 [debug] Moves scheduled 12200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:40 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 24702, writes 0 timeouts 0
2025-04-24 11:05:40 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36165/37178
2025-04-24 11:05:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:41 [info] currentZPosition:0.103
2025-04-24 11:05:42 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:42 [debug] Diagnostics for board 50:
2025-04-24 11:05:42 [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 11:05:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:47 ago, cause: software
2025-04-24 11:05:42 [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 11:05:42 [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 11:05:42 [debug] Moves scheduled 12204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6818, max=17045
Sync err accum 66, peak jitter -2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:42 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17189, writes 0 timeouts 0
2025-04-24 11:05:42 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37176
2025-04-24 11:05:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:42 [info] currentZPosition:0.103
2025-04-24 11:05:43 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:43 [debug] Diagnostics for board 50:
2025-04-24 11:05:43 [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 11:05:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:48 ago, cause: software
2025-04-24 11:05:43 [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 11:05:43 [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 11:05:43 [debug] Moves scheduled 12208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 81, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:43 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16500, writes 0 timeouts 0
2025-04-24 11:05:43 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36157/37174
2025-04-24 11:05:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:43 [info] currentZPosition:0.103
2025-04-24 11:05:45 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:45 [debug] Diagnostics for board 50:
2025-04-24 11:05:45 [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 11:05:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:49 ago, cause: software
2025-04-24 11:05:45 [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 11:05:45 [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 11:05:45 [debug] Moves scheduled 12212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=751, max=17045
Sync err accum 98, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:05:45 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17474, writes 11 timeouts 1
2025-04-24 11:05:45 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36088/37173
2025-04-24 11:05:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:45 [info] currentZPosition:0.102
2025-04-24 11:05:46 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:46 [debug] Diagnostics for board 50:
2025-04-24 11:05:46 [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 11:05:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:51 ago, cause: software
2025-04-24 11:05:46 [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 11:05:46 [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 11:05:46 [debug] Moves scheduled 12216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6250, max=17045
Sync err accum 110, peak jitter 2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:46 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16511, writes 0 timeouts 0
2025-04-24 11:05:46 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36154/37171
2025-04-24 11:05:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:46 [info] currentZPosition:0.103
2025-04-24 11:05:47 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:47 [debug] Diagnostics for board 50:
2025-04-24 11:05:47 [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 11:05:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:52 ago, cause: software
2025-04-24 11:05:47 [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 11:05:47 [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 11:05:47 [debug] Moves scheduled 12220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6637, max=17045
Sync err accum 124, peak jitter 2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:47 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17307, writes 0 timeouts 0
2025-04-24 11:05:47 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37172
2025-04-24 11:05:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:47 [info] currentZPosition:0.102
2025-04-24 11:05:49 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:49 [debug] Diagnostics for board 50:
2025-04-24 11:05:49 [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 11:05:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:53 ago, cause: software
2025-04-24 11:05:49 [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 11:05:49 [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 11:05:49 [debug] Moves scheduled 12224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5555, max=17045
Sync err accum 122, peak jitter -2/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:49 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16618, writes 0 timeouts 0
2025-04-24 11:05:49 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36289/37174
2025-04-24 11:05:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:49 [info] currentZPosition:0.102
2025-04-24 11:05:50 [debug] Stopped at height 0.104 mm
2025-04-24 11:05:50 [debug] Diagnostics for board 50:
2025-04-24 11:05:50 [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 11:05:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:55 ago, cause: software
2025-04-24 11:05:50 [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 11:05:50 [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 11:05:50 [debug] Moves scheduled 12228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 113, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:05:50 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16741, writes 0 timeouts 0
2025-04-24 11:05:50 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36114/37173
2025-04-24 11:05:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:50 [info] currentZPosition:0.104
2025-04-24 11:05:50 [debug] Stopped at height 0.102 mm
2025-04-24 11:05:52 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:52 [debug] Diagnostics for board 50:
2025-04-24 11:05:52 [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 11:05:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:56 ago, cause: software
2025-04-24 11:05:52 [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 11:05:52 [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 11:05:52 [debug] Moves scheduled 12234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 94, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:52 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20771, writes 0 timeouts 0
2025-04-24 11:05:52 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37177
2025-04-24 11:05:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:52 [info] currentZPosition:0.103
2025-04-24 11:05:53 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:53 [debug] Diagnostics for board 50:
2025-04-24 11:05:53 [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 11:05:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:58 ago, cause: software
2025-04-24 11:05:53 [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 11:05:53 [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 11:05:53 [debug] Moves scheduled 12238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 76, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:05:53 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17054, writes 0 timeouts 0
2025-04-24 11:05:53 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36106/37179
2025-04-24 11:05:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:53 [info] currentZPosition:0.103
2025-04-24 11:05:54 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:54 [debug] Diagnostics for board 50:
2025-04-24 11:05:54 [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 11:05:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:07:59 ago, cause: software
2025-04-24 11:05:54 [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 11:05:54 [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 11:05:54 [debug] Moves scheduled 12242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=17045
Sync err accum 61, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294927815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:05:54 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16745, writes 0 timeouts 0
2025-04-24 11:05:54 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37179
2025-04-24 11:05:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:54 [info] currentZPosition:0.103
2025-04-24 11:05:56 [debug] Stopped at height 0.101 mm
2025-04-24 11:05:56 [debug] Diagnostics for board 50:
2025-04-24 11:05:56 [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 11:05:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:00 ago, cause: software
2025-04-24 11:05:56 [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 11:05:56 [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 11:05:56 [debug] Moves scheduled 12246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=17045
Sync err accum 73, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:05:56 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17609, writes 0 timeouts 0
2025-04-24 11:05:56 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36109/37177
2025-04-24 11:05:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:56 [info] currentZPosition:0.101
2025-04-24 11:05:56 [debug] Stopped at height 0.101 mm
2025-04-24 11:05:57 [debug] Stopped at height 0.104 mm
2025-04-24 11:05:57 [debug] Diagnostics for board 50:
2025-04-24 11:05:57 [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 11:05:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:02 ago, cause: software
2025-04-24 11:05:57 [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 11:05:57 [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 11:05:57 [debug] Moves scheduled 12252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:57 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 19711, writes 0 timeouts 0
2025-04-24 11:05:57 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36399/37173
2025-04-24 11:05:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:57 [info] currentZPosition:0.104
2025-04-24 11:05:58 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:59 [debug] Stopped at height 0.103 mm
2025-04-24 11:05:59 [debug] Diagnostics for board 50:
2025-04-24 11:05:59 [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 11:05:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:04 ago, cause: software
2025-04-24 11:05:59 [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 11:05:59 [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 11:05:59 [debug] Moves scheduled 12258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:05:59 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 21587, writes 0 timeouts 0
2025-04-24 11:05:59 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37175
2025-04-24 11:05:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:05:59 [info] currentZPosition:0.103
2025-04-24 11:06:00 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:00 [debug] Diagnostics for board 50:
2025-04-24 11:06:00 [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 11:06:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:05 ago, cause: software
2025-04-24 11:06:00 [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 11:06:00 [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 11:06:00 [debug] Moves scheduled 12262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:00 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16627, writes 0 timeouts 0
2025-04-24 11:06:00 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36399/37176
2025-04-24 11:06:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:00 [info] currentZPosition:0.103
2025-04-24 11:06:02 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:02 [debug] Diagnostics for board 50:
2025-04-24 11:06:02 [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 11:06:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:06 ago, cause: software
2025-04-24 11:06:02 [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 11:06:02 [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 11:06:02 [debug] Moves scheduled 12266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:02 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17046, writes 0 timeouts 0
2025-04-24 11:06:02 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37173
2025-04-24 11:06:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:02 [info] currentZPosition:0.103
2025-04-24 11:06:03 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:03 [debug] Diagnostics for board 50:
2025-04-24 11:06:03 [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 11:06:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:08 ago, cause: software
2025-04-24 11:06:03 [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 11:06:03 [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 11:06:03 [debug] Moves scheduled 12270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:03 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16669, writes 0 timeouts 0
2025-04-24 11:06:03 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36395/37176
2025-04-24 11:06:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:03 [info] currentZPosition:0.103
2025-04-24 11:06:04 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:04 [debug] Diagnostics for board 50:
2025-04-24 11:06:04 [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 11:06:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:09 ago, cause: software
2025-04-24 11:06:04 [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 11:06:04 [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 11:06:04 [debug] Moves scheduled 12274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6880, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:04 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17331, writes 0 timeouts 0
2025-04-24 11:06:04 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37173
2025-04-24 11:06:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:04 [info] currentZPosition:0.103
2025-04-24 11:06:06 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:06 [debug] Diagnostics for board 50:
2025-04-24 11:06:06 [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 11:06:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:11 ago, cause: software
2025-04-24 11:06:06 [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 11:06:06 [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 11:06:06 [debug] Moves scheduled 12278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17857
Sync err accum 97, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:06 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16476, writes 0 timeouts 0
2025-04-24 11:06:06 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37173
2025-04-24 11:06:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:06 [info] currentZPosition:0.103
2025-04-24 11:06:07 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:07 [debug] Diagnostics for board 50:
2025-04-24 11:06:07 [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 11:06:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:12 ago, cause: software
2025-04-24 11:06:07 [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 11:06:07 [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 11:06:07 [debug] Moves scheduled 12282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:07 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17272, writes 0 timeouts 0
2025-04-24 11:06:07 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36111/37172
2025-04-24 11:06:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:07 [info] currentZPosition:0.103
2025-04-24 11:06:08 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:08 [debug] Diagnostics for board 50:
2025-04-24 11:06:08 [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 11:06:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:13 ago, cause: software
2025-04-24 11:06:08 [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 11:06:08 [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 11:06:08 [debug] Moves scheduled 12286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17857
Sync err accum 87, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:08 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16419, writes 0 timeouts 0
2025-04-24 11:06:08 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37176
2025-04-24 11:06:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:08 [info] currentZPosition:0.103
2025-04-24 11:06:10 [debug] Stopped at height 0.102 mm
2025-04-24 11:06:10 [debug] Diagnostics for board 50:
2025-04-24 11:06:10 [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 11:06:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:15 ago, cause: software
2025-04-24 11:06:10 [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 11:06:10 [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 11:06:10 [debug] Moves scheduled 12290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:10 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17626, writes 0 timeouts 0
2025-04-24 11:06:10 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36099/37174
2025-04-24 11:06:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:10 [info] currentZPosition:0.102
2025-04-24 11:06:10 [debug] Stopped at height 0.102 mm
2025-04-24 11:06:11 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:11 [debug] Diagnostics for board 50:
2025-04-24 11:06:11 [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 11:06:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:16 ago, cause: software
2025-04-24 11:06:11 [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 11:06:11 [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 11:06:11 [debug] Moves scheduled 12296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 65, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:11 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20340, writes 0 timeouts 0
2025-04-24 11:06:11 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36397/37178
2025-04-24 11:06:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:12 [info] currentZPosition:0.103
2025-04-24 11:06:13 [debug] Stopped at height 0.102 mm
2025-04-24 11:06:13 [debug] Diagnostics for board 50:
2025-04-24 11:06:13 [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 11:06:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:18 ago, cause: software
2025-04-24 11:06:13 [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 11:06:13 [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 11:06:13 [debug] Moves scheduled 12300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:13 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17521, writes 0 timeouts 0
2025-04-24 11:06:13 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36096/37175
2025-04-24 11:06:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:13 [info] currentZPosition:0.102
2025-04-24 11:06:14 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:14 [debug] Diagnostics for board 50:
2025-04-24 11:06:14 [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 11:06:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:19 ago, cause: software
2025-04-24 11:06:14 [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 11:06:14 [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 11:06:14 [debug] Moves scheduled 12304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=5597, max=18292
Sync err accum 71, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:14 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 15827, writes 0 timeouts 0
2025-04-24 11:06:14 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36401/37175
2025-04-24 11:06:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:14 [info] currentZPosition:0.104
2025-04-24 11:06:15 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:16 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:16 [debug] Diagnostics for board 50:
2025-04-24 11:06:16 [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 11:06:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:08:21 ago, cause: software
2025-04-24 11:06:16 [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 11:06:16 [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 11:06:16 [debug] Moves scheduled 12310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6250, max=18292
Sync err accum 73, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:16 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 21352, writes 0 timeouts 0
2025-04-24 11:06:16 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 11:06:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:16 [info] currentZPosition:0.103
2025-04-24 11:06:17 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:17 [debug] Diagnostics for board 50:
2025-04-24 11:06:17 [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 11:06:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:22 ago, cause: software
2025-04-24 11:06:17 [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 11:06:17 [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 11:06:17 [debug] Moves scheduled 12314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 74, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:17 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16591, writes 0 timeouts 0
2025-04-24 11:06:17 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36384/37177
2025-04-24 11:06:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:17 [info] currentZPosition:0.103
2025-04-24 11:06:19 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:19 [debug] Diagnostics for board 50:
2025-04-24 11:06:19 [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 11:06:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:23 ago, cause: software
2025-04-24 11:06:19 [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 11:06:19 [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 11:06:19 [debug] Moves scheduled 12318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:19 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17048, writes 0 timeouts 0
2025-04-24 11:06:19 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37176
2025-04-24 11:06:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:19 [info] currentZPosition:0.104
2025-04-24 11:06:20 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:20 [debug] Diagnostics for board 50:
2025-04-24 11:06:20 [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 11:06:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:25 ago, cause: software
2025-04-24 11:06:20 [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 11:06:20 [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 11:06:20 [debug] Moves scheduled 12322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 68, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:20 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16846, writes 0 timeouts 0
2025-04-24 11:06:20 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37175
2025-04-24 11:06:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:20 [info] currentZPosition:0.103
2025-04-24 11:06:21 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:21 [debug] Diagnostics for board 50:
2025-04-24 11:06:21 [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 11:06:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:26 ago, cause: software
2025-04-24 11:06:21 [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 11:06:21 [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 11:06:21 [debug] Moves scheduled 12326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:21 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16987, writes 0 timeouts 0
2025-04-24 11:06:21 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36098/37175
2025-04-24 11:06:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:21 [info] currentZPosition:0.104
2025-04-24 11:06:23 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:23 [debug] Diagnostics for board 50:
2025-04-24 11:06:23 [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 11:06:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:27 ago, cause: software
2025-04-24 11:06:23 [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 11:06:23 [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 11:06:23 [debug] Moves scheduled 12330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:23 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16978, writes 0 timeouts 0
2025-04-24 11:06:23 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37177
2025-04-24 11:06:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8858, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:23 [info] currentZPosition:0.103
2025-04-24 11:06:24 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:24 [debug] Diagnostics for board 50:
2025-04-24 11:06:24 [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 11:06:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:29 ago, cause: software
2025-04-24 11:06:24 [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 11:06:24 [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 11:06:24 [debug] Moves scheduled 12334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:24 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16610, writes 0 timeouts 0
2025-04-24 11:06:24 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36090/37170
2025-04-24 11:06:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:24 [info] currentZPosition:0.105
2025-04-24 11:06:24 [debug] Stopped at height 0.102 mm
2025-04-24 11:06:26 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:26 [debug] Diagnostics for board 50:
2025-04-24 11:06:26 [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 11:06:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:30 ago, cause: software
2025-04-24 11:06:26 [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 11:06:26 [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 11:06:26 [debug] Moves scheduled 12340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:26 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20735, writes 0 timeouts 0
2025-04-24 11:06:26 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36400/37176
2025-04-24 11:06:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:26 [info] currentZPosition:0.104
2025-04-24 11:06:26 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:27 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:27 [debug] Diagnostics for board 50:
2025-04-24 11:06:27 [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 11:06:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:32 ago, cause: software
2025-04-24 11:06:27 [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 11:06:27 [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 11:06:27 [debug] Moves scheduled 12346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:27 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20932, writes 0 timeouts 0
2025-04-24 11:06:27 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37177
2025-04-24 11:06:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:27 [info] currentZPosition:0.104
2025-04-24 11:06:28 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:29 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:29 [debug] Diagnostics for board 50:
2025-04-24 11:06:29 [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 11:06:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:34 ago, cause: software
2025-04-24 11:06:29 [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 11:06:29 [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 11:06:29 [debug] Moves scheduled 12352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6355, max=17045
Sync err accum 98, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:29 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20611, writes 0 timeouts 0
2025-04-24 11:06:29 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37177
2025-04-24 11:06:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:29 [info] currentZPosition:0.104
2025-04-24 11:06:30 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:30 [debug] Diagnostics for board 50:
2025-04-24 11:06:30 [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 11:06:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:35 ago, cause: software
2025-04-24 11:06:30 [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 11:06:30 [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 11:06:30 [debug] Moves scheduled 12356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:30 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17194, writes 0 timeouts 0
2025-04-24 11:06:30 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37174
2025-04-24 11:06:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:30 [info] currentZPosition:0.104
2025-04-24 11:06:32 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:32 [debug] Diagnostics for board 50:
2025-04-24 11:06:32 [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 11:06:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:36 ago, cause: software
2025-04-24 11:06:32 [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 11:06:32 [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 11:06:32 [debug] Moves scheduled 12360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6355, max=17045
Sync err accum 90, peak jitter -1/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:06:32 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16371, writes 0 timeouts 0
2025-04-24 11:06:32 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37171
2025-04-24 11:06:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:32 [info] currentZPosition:0.104
2025-04-24 11:06:33 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:33 [debug] Diagnostics for board 50:
2025-04-24 11:06:33 [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 11:06:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:38 ago, cause: software
2025-04-24 11:06:33 [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 11:06:33 [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 11:06:33 [debug] Moves scheduled 12364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 83, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:06:33 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17553, writes 0 timeouts 0
2025-04-24 11:06:33 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37174
2025-04-24 11:06:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:33 [info] currentZPosition:0.103
2025-04-24 11:06:33 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:35 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:35 [debug] Diagnostics for board 50:
2025-04-24 11:06:35 [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 11:06:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:39 ago, cause: software
2025-04-24 11:06:35 [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 11:06:35 [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 11:06:35 [debug] Moves scheduled 12370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:35 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20288, writes 0 timeouts 0
2025-04-24 11:06:35 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36403/37179
2025-04-24 11:06:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:35 [info] currentZPosition:0.104
2025-04-24 11:06:35 [debug] Stopped at height 0.102 mm
2025-04-24 11:06:36 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:36 [debug] Diagnostics for board 50:
2025-04-24 11:06:36 [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 11:06:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:41 ago, cause: software
2025-04-24 11:06:36 [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 11:06:36 [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 11:06:36 [debug] Moves scheduled 12376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=137, frequency (Hz): min=6048, max=17857
Sync err accum 63, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:36 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 21018, writes 0 timeouts 0
2025-04-24 11:06:36 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36097/37174
2025-04-24 11:06:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:36 [info] currentZPosition:0.105
2025-04-24 11:06:37 [debug] Stopped at height 0.106 mm
2025-04-24 11:06:38 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:38 [debug] Diagnostics for board 50:
2025-04-24 11:06:38 [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 11:06:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:43 ago, cause: software
2025-04-24 11:06:38 [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 11:06:38 [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 11:06:38 [debug] Moves scheduled 12382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:38 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20132, writes 0 timeouts 0
2025-04-24 11:06:38 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37177
2025-04-24 11:06:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:38 [info] currentZPosition:0.105
2025-04-24 11:06:39 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:39 [debug] Diagnostics for board 50:
2025-04-24 11:06:39 [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 11:06:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:44 ago, cause: software
2025-04-24 11:06:39 [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 11:06:39 [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 11:06:39 [debug] Moves scheduled 12386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:39 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17317, writes 0 timeouts 0
2025-04-24 11:06:39 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37175
2025-04-24 11:06:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:39 [info] currentZPosition:0.105
2025-04-24 11:06:41 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:41 [debug] Diagnostics for board 50:
2025-04-24 11:06:41 [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 11:06:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:45 ago, cause: software
2025-04-24 11:06:41 [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 11:06:41 [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 11:06:41 [debug] Moves scheduled 12390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:41 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16919, writes 0 timeouts 0
2025-04-24 11:06:41 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37179
2025-04-24 11:06:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:41 [info] currentZPosition:0.104
2025-04-24 11:06:42 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:42 [debug] Diagnostics for board 50:
2025-04-24 11:06:42 [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 11:06:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:47 ago, cause: software
2025-04-24 11:06:42 [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 11:06:42 [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 11:06:42 [debug] Moves scheduled 12394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 75, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:42 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16915, writes 0 timeouts 0
2025-04-24 11:06:42 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37173
2025-04-24 11:06:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:42 [info] currentZPosition:0.105
2025-04-24 11:06:43 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:43 [debug] Diagnostics for board 50:
2025-04-24 11:06:43 [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 11:06:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:48 ago, cause: software
2025-04-24 11:06:43 [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 11:06:43 [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 11:06:43 [debug] Moves scheduled 12398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:43 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16461, writes 0 timeouts 0
2025-04-24 11:06:43 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37173
2025-04-24 11:06:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:43 [info] currentZPosition:0.105
2025-04-24 11:06:45 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:45 [debug] Diagnostics for board 50:
2025-04-24 11:06:45 [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 11:06:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:50 ago, cause: software
2025-04-24 11:06:45 [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 11:06:45 [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 11:06:45 [debug] Moves scheduled 12402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17857
Sync err accum 84, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:45 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 18030, writes 0 timeouts 0
2025-04-24 11:06:45 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37176
2025-04-24 11:06:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:45 [info] currentZPosition:0.103
2025-04-24 11:06:45 [debug] Stopped at height 0.102 mm
2025-04-24 11:06:46 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:46 [debug] Diagnostics for board 50:
2025-04-24 11:06:46 [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 11:06:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:51 ago, cause: software
2025-04-24 11:06:46 [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 11:06:46 [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 11:06:46 [debug] Moves scheduled 12408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 86, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:46 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20200, writes 0 timeouts 0
2025-04-24 11:06:46 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37176
2025-04-24 11:06:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:46 [info] currentZPosition:0.104
2025-04-24 11:06:47 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:48 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:48 [debug] Diagnostics for board 50:
2025-04-24 11:06:48 [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 11:06:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:53 ago, cause: software
2025-04-24 11:06:48 [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 11:06:48 [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 11:06:48 [debug] Moves scheduled 12414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:48 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 21068, writes 0 timeouts 0
2025-04-24 11:06:48 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36098/37176
2025-04-24 11:06:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:48 [info] currentZPosition:0.104
2025-04-24 11:06:48 [debug] Stopped at height 0.103 mm
2025-04-24 11:06:50 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:50 [debug] Diagnostics for board 50:
2025-04-24 11:06:50 [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 11:06:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:55 ago, cause: software
2025-04-24 11:06:50 [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 11:06:50 [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 11:06:50 [debug] Moves scheduled 12420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 75, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:50 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20584, writes 0 timeouts 0
2025-04-24 11:06:50 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36165/37174
2025-04-24 11:06:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:50 [info] currentZPosition:0.104
2025-04-24 11:06:51 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:51 [debug] Diagnostics for board 50:
2025-04-24 11:06:51 [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 11:06:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:56 ago, cause: software
2025-04-24 11:06:51 [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 11:06:51 [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 11:06:51 [debug] Moves scheduled 12424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:51 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16740, writes 0 timeouts 0
2025-04-24 11:06:51 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37175
2025-04-24 11:06:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:51 [info] currentZPosition:0.105
2025-04-24 11:06:51 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:53 [debug] Stopped at height 0.106 mm
2025-04-24 11:06:53 [debug] Diagnostics for board 50:
2025-04-24 11:06:53 [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 11:06:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:58 ago, cause: software
2025-04-24 11:06:53 [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 11:06:53 [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 11:06:53 [debug] Moves scheduled 12430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:53 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20441, writes 0 timeouts 0
2025-04-24 11:06:53 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37179
2025-04-24 11:06:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:53 [info] currentZPosition:0.106
2025-04-24 11:06:53 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:54 [debug] Stopped at height 0.106 mm
2025-04-24 11:06:54 [debug] Diagnostics for board 50:
2025-04-24 11:06:54 [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 11:06:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:08:59 ago, cause: software
2025-04-24 11:06:54 [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 11:06:54 [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 11:06:54 [debug] Moves scheduled 12436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6250, max=17045
Sync err accum 71, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:06:54 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21071, writes 0 timeouts 0
2025-04-24 11:06:54 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36100/37173
2025-04-24 11:06:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:54 [info] currentZPosition:0.106
2025-04-24 11:06:56 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:56 [debug] Diagnostics for board 50:
2025-04-24 11:06:56 [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 11:06:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:01 ago, cause: software
2025-04-24 11:06:56 [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 11:06:56 [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 11:06:56 [debug] Moves scheduled 12440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 83, peak jitter 2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:06:56 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16721, writes 0 timeouts 0
2025-04-24 11:06:56 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36164/37173
2025-04-24 11:06:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:56 [info] currentZPosition:0.105
2025-04-24 11:06:57 [debug] Stopped at height 0.105 mm
2025-04-24 11:06:57 [debug] Diagnostics for board 50:
2025-04-24 11:06:57 [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 11:06:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:02 ago, cause: software
2025-04-24 11:06:57 [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 11:06:57 [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 11:06:57 [debug] Moves scheduled 12444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 93, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:57 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17201, writes 0 timeouts 0
2025-04-24 11:06:57 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37172
2025-04-24 11:06:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:57 [info] currentZPosition:0.105
2025-04-24 11:06:58 [debug] Stopped at height 0.104 mm
2025-04-24 11:06:58 [debug] Diagnostics for board 50:
2025-04-24 11:06:58 [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 11:06:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:03 ago, cause: software
2025-04-24 11:06:58 [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 11:06:58 [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 11:06:58 [debug] Moves scheduled 12448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:06:58 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16890, writes 0 timeouts 0
2025-04-24 11:06:58 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37177
2025-04-24 11:06:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:06:59 [info] currentZPosition:0.104
2025-04-24 11:07:00 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:00 [debug] Diagnostics for board 50:
2025-04-24 11:07:00 [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 11:07:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:05 ago, cause: software
2025-04-24 11:07:00 [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 11:07:00 [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 11:07:00 [debug] Moves scheduled 12452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 104, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:00 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17127, writes 0 timeouts 0
2025-04-24 11:07:00 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37173
2025-04-24 11:07:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:00 [info] currentZPosition:0.104
2025-04-24 11:07:01 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:01 [debug] Diagnostics for board 50:
2025-04-24 11:07:01 [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 11:07:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:06 ago, cause: software
2025-04-24 11:07:01 [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 11:07:01 [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 11:07:01 [debug] Moves scheduled 12456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 104, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:01 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16239, writes 0 timeouts 0
2025-04-24 11:07:01 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37175
2025-04-24 11:07:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:01 [info] currentZPosition:0.106
2025-04-24 11:07:03 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:03 [debug] Diagnostics for board 50:
2025-04-24 11:07:03 [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 11:07:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:07 ago, cause: software
2025-04-24 11:07:03 [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 11:07:03 [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 11:07:03 [debug] Moves scheduled 12460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
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 4294932512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:03 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17372, writes 0 timeouts 0
2025-04-24 11:07:03 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37175
2025-04-24 11:07:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:03 [info] currentZPosition:0.105
2025-04-24 11:07:04 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:04 [debug] Diagnostics for board 50:
2025-04-24 11:07:04 [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 11:07:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:09 ago, cause: software
2025-04-24 11:07:04 [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 11:07:04 [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 11:07:04 [debug] Moves scheduled 12464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 104, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933986 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:04 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16593, writes 0 timeouts 0
2025-04-24 11:07:04 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37176
2025-04-24 11:07:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:04 [info] currentZPosition:0.105
2025-04-24 11:07:05 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:05 [debug] Diagnostics for board 50:
2025-04-24 11:07:05 [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 11:07:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:10 ago, cause: software
2025-04-24 11:07:05 [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 11:07:05 [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 11:07:05 [debug] Moves scheduled 12468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6578, max=17045
Sync err accum 98, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:05 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16980, writes 0 timeouts 0
2025-04-24 11:07:05 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37173
2025-04-24 11:07:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:05 [info] currentZPosition:0.106
2025-04-24 11:07:07 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:07 [debug] Diagnostics for board 50:
2025-04-24 11:07:07 [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 11:07:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:11 ago, cause: software
2025-04-24 11:07:07 [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 11:07:07 [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 11:07:07 [debug] Moves scheduled 12472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 93, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:07 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16917, writes 0 timeouts 0
2025-04-24 11:07:07 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37177
2025-04-24 11:07:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:07 [info] currentZPosition:0.104
2025-04-24 11:07:08 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:08 [debug] Diagnostics for board 50:
2025-04-24 11:07:08 [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 11:07:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:13 ago, cause: software
2025-04-24 11:07:08 [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 11:07:08 [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 11:07:08 [debug] Moves scheduled 12476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6578, max=18292
Sync err accum 87, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:08 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17994, writes 0 timeouts 0
2025-04-24 11:07:08 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 11:07:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:08 [info] currentZPosition:0.104
2025-04-24 11:07:09 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:09 [debug] Diagnostics for board 50:
2025-04-24 11:07:09 [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 11:07:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:14 ago, cause: software
2025-04-24 11:07:09 [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 11:07:09 [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 11:07:09 [debug] Moves scheduled 12480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6465, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:09 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16352, writes 0 timeouts 0
2025-04-24 11:07:09 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36168/37178
2025-04-24 11:07:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:09 [info] currentZPosition:0.105
2025-04-24 11:07:11 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:11 [debug] Diagnostics for board 50:
2025-04-24 11:07:11 [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 11:07:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:15 ago, cause: software
2025-04-24 11:07:11 [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 11:07:11 [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 11:07:11 [debug] Moves scheduled 12484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:07:11 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16899, writes 0 timeouts 0
2025-04-24 11:07:11 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36097/37174
2025-04-24 11:07:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:11 [info] currentZPosition:0.106
2025-04-24 11:07:12 [debug] Stopped at height 0.103 mm
2025-04-24 11:07:12 [debug] Diagnostics for board 50:
2025-04-24 11:07:12 [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 11:07:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:17 ago, cause: software
2025-04-24 11:07:12 [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 11:07:12 [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 11:07:12 [debug] Moves scheduled 12488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
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 4294935369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:12 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17310, writes 0 timeouts 0
2025-04-24 11:07:12 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36158/37176
2025-04-24 11:07:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:12 [info] currentZPosition:0.103
2025-04-24 11:07:12 [debug] Stopped at height 0.103 mm
2025-04-24 11:07:14 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:14 [debug] Diagnostics for board 50:
2025-04-24 11:07:14 [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 11:07:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:18 ago, cause: software
2025-04-24 11:07:14 [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 11:07:14 [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 11:07:14 [debug] Moves scheduled 12494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 66, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:14 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20318, writes 0 timeouts 0
2025-04-24 11:07:14 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 284, adv 36094/37176
2025-04-24 11:07:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:14 [info] currentZPosition:0.106
2025-04-24 11:07:14 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:15 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:15 [debug] Diagnostics for board 50:
2025-04-24 11:07:15 [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 11:07:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:20 ago, cause: software
2025-04-24 11:07:15 [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 11:07:15 [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 11:07:15 [debug] Moves scheduled 12500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:15 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20909, writes 0 timeouts 0
2025-04-24 11:07:15 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37173
2025-04-24 11:07:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:15 [info] currentZPosition:0.105
2025-04-24 11:07:17 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:17 [debug] Diagnostics for board 50:
2025-04-24 11:07:17 [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 11:07:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:21 ago, cause: software
2025-04-24 11:07:17 [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 11:07:17 [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 11:07:17 [debug] Moves scheduled 12504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:17 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16866, writes 0 timeouts 0
2025-04-24 11:07:17 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37174
2025-04-24 11:07:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:17 [info] currentZPosition:0.106
2025-04-24 11:07:18 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:18 [debug] Diagnostics for board 50:
2025-04-24 11:07:18 [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 11:07:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:23 ago, cause: software
2025-04-24 11:07:18 [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 11:07:18 [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 11:07:18 [debug] Moves scheduled 12508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 68, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:18 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16581, writes 0 timeouts 0
2025-04-24 11:07:18 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37177
2025-04-24 11:07:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:18 [info] currentZPosition:0.106
2025-04-24 11:07:19 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:19 [debug] Diagnostics for board 50:
2025-04-24 11:07:19 [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 11:07:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:24 ago, cause: software
2025-04-24 11:07:19 [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 11:07:19 [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 11:07:19 [debug] Moves scheduled 12512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:19 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17468, writes 0 timeouts 0
2025-04-24 11:07:19 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36112/37177
2025-04-24 11:07:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:19 [info] currentZPosition:0.105
2025-04-24 11:07:21 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:21 [debug] Diagnostics for board 50:
2025-04-24 11:07:21 [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 11:07:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:26 ago, cause: software
2025-04-24 11:07:21 [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 11:07:21 [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 11:07:21 [debug] Moves scheduled 12516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:21 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16619, writes 0 timeouts 0
2025-04-24 11:07:21 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37177
2025-04-24 11:07:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:21 [info] currentZPosition:0.105
2025-04-24 11:07:22 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:22 [debug] Diagnostics for board 50:
2025-04-24 11:07:22 [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 11:07:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:27 ago, cause: software
2025-04-24 11:07:22 [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 11:07:22 [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 11:07:22 [debug] Moves scheduled 12520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6198, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:22 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17416, writes 0 timeouts 0
2025-04-24 11:07:22 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:07:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:22 [info] currentZPosition:0.104
2025-04-24 11:07:23 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:23 [debug] Diagnostics for board 50:
2025-04-24 11:07:23 [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 11:07:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:28 ago, cause: software
2025-04-24 11:07:23 [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 11:07:23 [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 11:07:23 [debug] Moves scheduled 12524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:23 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16304, writes 0 timeouts 0
2025-04-24 11:07:23 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37176
2025-04-24 11:07:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:24 [info] currentZPosition:0.105
2025-04-24 11:07:25 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:25 [debug] Diagnostics for board 50:
2025-04-24 11:07:25 [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 11:07:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:30 ago, cause: software
2025-04-24 11:07:25 [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 11:07:25 [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 11:07:25 [debug] Moves scheduled 12528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 75, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:07:25 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17024, writes 0 timeouts 0
2025-04-24 11:07:25 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37174
2025-04-24 11:07:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:25 [info] currentZPosition:0.105
2025-04-24 11:07:26 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:26 [debug] Diagnostics for board 50:
2025-04-24 11:07:26 [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 11:07:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:31 ago, cause: software
2025-04-24 11:07:26 [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 11:07:26 [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 11:07:26 [debug] Moves scheduled 12532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 76, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:07:26 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16627, writes 0 timeouts 0
2025-04-24 11:07:26 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37173
2025-04-24 11:07:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:26 [info] currentZPosition:0.105
2025-04-24 11:07:28 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:28 [debug] Diagnostics for board 50:
2025-04-24 11:07:28 [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 11:07:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:32 ago, cause: software
2025-04-24 11:07:28 [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 11:07:28 [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 11:07:28 [debug] Moves scheduled 12536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:28 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17213, writes 0 timeouts 0
2025-04-24 11:07:28 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36093/37176
2025-04-24 11:07:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:28 [info] currentZPosition:0.105
2025-04-24 11:07:29 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:29 [debug] Diagnostics for board 50:
2025-04-24 11:07:29 [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 11:07:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:34 ago, cause: software
2025-04-24 11:07:29 [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 11:07:29 [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 11:07:29 [debug] Moves scheduled 12540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=7009, max=17045
Sync err accum 75, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:29 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16899, writes 0 timeouts 0
2025-04-24 11:07:29 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36153/37171
2025-04-24 11:07:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:29 [info] currentZPosition:0.104
2025-04-24 11:07:30 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:30 [debug] Diagnostics for board 50:
2025-04-24 11:07:30 [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 11:07:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:35 ago, cause: software
2025-04-24 11:07:30 [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 11:07:30 [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 11:07:30 [debug] Moves scheduled 12544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17441
Sync err accum 70, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:30 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17215, writes 0 timeouts 0
2025-04-24 11:07:30 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37178
2025-04-24 11:07:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:30 [info] currentZPosition:0.104
2025-04-24 11:07:32 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:32 [debug] Diagnostics for board 50:
2025-04-24 11:07:32 [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 11:07:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:36 ago, cause: software
2025-04-24 11:07:32 [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 11:07:32 [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 11:07:32 [debug] Moves scheduled 12548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:32 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16112, writes 0 timeouts 0
2025-04-24 11:07:32 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36162/37177
2025-04-24 11:07:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:32 [info] currentZPosition:0.106
2025-04-24 11:07:32 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:33 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:33 [debug] Diagnostics for board 50:
2025-04-24 11:07:33 [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 11:07:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:38 ago, cause: software
2025-04-24 11:07:33 [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 11:07:33 [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 11:07:33 [debug] Moves scheduled 12554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:33 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 21472, writes 0 timeouts 0
2025-04-24 11:07:33 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37175
2025-04-24 11:07:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:33 [info] currentZPosition:0.104
2025-04-24 11:07:35 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:35 [debug] Diagnostics for board 50:
2025-04-24 11:07:35 [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 11:07:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:39 ago, cause: software
2025-04-24 11:07:35 [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 11:07:35 [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 11:07:35 [debug] Moves scheduled 12558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5859, max=17857
Sync err accum 68, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:35 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16444, writes 0 timeouts 0
2025-04-24 11:07:35 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37176
2025-04-24 11:07:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:35 [info] currentZPosition:0.105
2025-04-24 11:07:36 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:36 [debug] Diagnostics for board 50:
2025-04-24 11:07:36 [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 11:07:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:41 ago, cause: software
2025-04-24 11:07:36 [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 11:07:36 [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 11:07:36 [debug] Moves scheduled 12562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:36 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16780, writes 0 timeouts 0
2025-04-24 11:07:36 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37176
2025-04-24 11:07:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:36 [info] currentZPosition:0.106
2025-04-24 11:07:36 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:38 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:38 [debug] Diagnostics for board 50:
2025-04-24 11:07:38 [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 11:07:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:42 ago, cause: software
2025-04-24 11:07:38 [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 11:07:38 [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 11:07:38 [debug] Moves scheduled 12568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:38 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20547, writes 0 timeouts 0
2025-04-24 11:07:38 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36285/37176
2025-04-24 11:07:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:38 [info] currentZPosition:0.106
2025-04-24 11:07:38 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:39 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:39 [debug] Diagnostics for board 50:
2025-04-24 11:07:39 [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 11:07:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:44 ago, cause: software
2025-04-24 11:07:39 [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 11:07:39 [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 11:07:39 [debug] Moves scheduled 12574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 68, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:39 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21491, writes 0 timeouts 0
2025-04-24 11:07:39 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37175
2025-04-24 11:07:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:39 [info] currentZPosition:0.105
2025-04-24 11:07:41 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:41 [debug] Diagnostics for board 50:
2025-04-24 11:07:41 [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 11:07:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:45 ago, cause: software
2025-04-24 11:07:41 [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 11:07:41 [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 11:07:41 [debug] Moves scheduled 12578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 76, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:07:41 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16599, writes 0 timeouts 0
2025-04-24 11:07:41 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37176
2025-04-24 11:07:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:41 [info] currentZPosition:0.105
2025-04-24 11:07:42 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:42 [debug] Diagnostics for board 50:
2025-04-24 11:07:42 [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 11:07:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:47 ago, cause: software
2025-04-24 11:07:42 [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 11:07:42 [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 11:07:42 [debug] Moves scheduled 12582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=5905, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:42 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17110, writes 0 timeouts 0
2025-04-24 11:07:42 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37177
2025-04-24 11:07:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:42 [info] currentZPosition:0.105
2025-04-24 11:07:43 [debug] Stopped at height 0.107 mm
2025-04-24 11:07:43 [debug] Diagnostics for board 50:
2025-04-24 11:07:43 [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 11:07:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:48 ago, cause: software
2025-04-24 11:07:43 [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 11:07:43 [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 11:07:43 [debug] Moves scheduled 12586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=7075, max=18292
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:43 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16086, writes 0 timeouts 0
2025-04-24 11:07:43 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37176
2025-04-24 11:07:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:43 [info] currentZPosition:0.107
2025-04-24 11:07:44 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:45 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:45 [debug] Diagnostics for board 50:
2025-04-24 11:07:45 [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 11:07:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:50 ago, cause: software
2025-04-24 11:07:45 [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 11:07:45 [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 11:07:45 [debug] Moves scheduled 12592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:45 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 21836, writes 0 timeouts 0
2025-04-24 11:07:45 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37177
2025-04-24 11:07:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:45 [info] currentZPosition:0.104
2025-04-24 11:07:46 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:46 [debug] Diagnostics for board 50:
2025-04-24 11:07:46 [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 11:07:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:51 ago, cause: software
2025-04-24 11:07:46 [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 11:07:46 [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 11:07:46 [debug] Moves scheduled 12596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 72, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:46 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16449, writes 0 timeouts 0
2025-04-24 11:07:46 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36404/37177
2025-04-24 11:07:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:46 [info] currentZPosition:0.105
2025-04-24 11:07:48 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:48 [debug] Diagnostics for board 50:
2025-04-24 11:07:48 [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 11:07:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:52 ago, cause: software
2025-04-24 11:07:48 [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 11:07:48 [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 11:07:48 [debug] Moves scheduled 12600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:48 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16882, writes 0 timeouts 0
2025-04-24 11:07:48 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37177
2025-04-24 11:07:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:48 [info] currentZPosition:0.106
2025-04-24 11:07:49 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:49 [debug] Diagnostics for board 50:
2025-04-24 11:07:49 [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 11:07:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:54 ago, cause: software
2025-04-24 11:07:49 [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 11:07:49 [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 11:07:49 [debug] Moves scheduled 12604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:49 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16974, writes 0 timeouts 0
2025-04-24 11:07:49 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37178
2025-04-24 11:07:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:49 [info] currentZPosition:0.105
2025-04-24 11:07:50 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:50 [debug] Diagnostics for board 50:
2025-04-24 11:07:50 [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 11:07:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:09:55 ago, cause: software
2025-04-24 11:07:50 [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 11:07:50 [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 11:07:50 [debug] Moves scheduled 12608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:07:50 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16995, writes 0 timeouts 0
2025-04-24 11:07:50 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37173
2025-04-24 11:07:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:50 [info] currentZPosition:0.105
2025-04-24 11:07:52 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:52 [debug] Diagnostics for board 50:
2025-04-24 11:07:52 [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 11:07:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:57 ago, cause: software
2025-04-24 11:07:52 [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 11:07:52 [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 11:07:52 [debug] Moves scheduled 12612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=18292
Sync err accum 80, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:07:52 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16537, writes 0 timeouts 0
2025-04-24 11:07:52 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37176
2025-04-24 11:07:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:52 [info] currentZPosition:0.106
2025-04-24 11:07:53 [debug] Stopped at height 0.106 mm
2025-04-24 11:07:53 [debug] Diagnostics for board 50:
2025-04-24 11:07:53 [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 11:07:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:58 ago, cause: software
2025-04-24 11:07:53 [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 11:07:53 [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 11:07:53 [debug] Moves scheduled 12616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:07:53 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17098, writes 0 timeouts 0
2025-04-24 11:07:53 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37170
2025-04-24 11:07:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:53 [info] currentZPosition:0.106
2025-04-24 11:07:54 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:54 [debug] Diagnostics for board 50:
2025-04-24 11:07:54 [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 11:07:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:09:59 ago, cause: software
2025-04-24 11:07:54 [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 11:07:54 [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 11:07:54 [debug] Moves scheduled 12620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:07:54 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17003, writes 0 timeouts 0
2025-04-24 11:07:54 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36296/37171
2025-04-24 11:07:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:55 [info] currentZPosition:0.105
2025-04-24 11:07:56 [debug] Stopped at height 0.104 mm
2025-04-24 11:07:56 [debug] Diagnostics for board 50:
2025-04-24 11:07:56 [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 11:07:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:01 ago, cause: software
2025-04-24 11:07:56 [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 11:07:56 [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 11:07:56 [debug] Moves scheduled 12624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:56 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17333, writes 0 timeouts 0
2025-04-24 11:07:56 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37175
2025-04-24 11:07:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:56 [info] currentZPosition:0.104
2025-04-24 11:07:57 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:57 [debug] Diagnostics for board 50:
2025-04-24 11:07:57 [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 11:07:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:02 ago, cause: software
2025-04-24 11:07:57 [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 11:07:57 [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 11:07:57 [debug] Moves scheduled 12628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:07:57 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16174, writes 0 timeouts 0
2025-04-24 11:07:57 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37177
2025-04-24 11:07:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:57 [info] currentZPosition:0.105
2025-04-24 11:07:59 [debug] Stopped at height 0.105 mm
2025-04-24 11:07:59 [debug] Diagnostics for board 50:
2025-04-24 11:07:59 [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 11:07:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:03 ago, cause: software
2025-04-24 11:07:59 [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 11:07:59 [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 11:07:59 [debug] Moves scheduled 12632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 90, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:07:59 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17170, writes 0 timeouts 0
2025-04-24 11:07:59 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37178
2025-04-24 11:07:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:07:59 [info] currentZPosition:0.105
2025-04-24 11:08:00 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:00 [debug] Diagnostics for board 50:
2025-04-24 11:08:00 [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 11:08:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:05 ago, cause: software
2025-04-24 11:08:00 [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 11:08:00 [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 11:08:00 [debug] Moves scheduled 12636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6147, max=17857
Sync err accum 82, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:00 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16707, writes 0 timeouts 0
2025-04-24 11:08:00 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36396/37178
2025-04-24 11:08:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:00 [info] currentZPosition:0.105
2025-04-24 11:08:01 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:01 [debug] Diagnostics for board 50:
2025-04-24 11:08:01 [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 11:08:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:06 ago, cause: software
2025-04-24 11:08:01 [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 11:08:01 [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 11:08:01 [debug] Moves scheduled 12640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:08:01 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16999, writes 0 timeouts 0
2025-04-24 11:08:01 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37177
2025-04-24 11:08:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:01 [info] currentZPosition:0.106
2025-04-24 11:08:03 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:03 [debug] Diagnostics for board 50:
2025-04-24 11:08:03 [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 11:08:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:08 ago, cause: software
2025-04-24 11:08:03 [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 11:08:03 [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 11:08:03 [debug] Moves scheduled 12644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 60, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294750703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:03 [debug] Driver 0: pos -3463, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 24491, writes 0 timeouts 0
2025-04-24 11:08:03 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 288, adv 36402/37178
2025-04-24 11:08:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:03 [info] currentZPosition:0.106
2025-04-24 11:08:05 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:05 [debug] Diagnostics for board 50:
2025-04-24 11:08:05 [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 11:08:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:10 ago, cause: software
2025-04-24 11:08:05 [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 11:08:05 [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 11:08:05 [debug] Moves scheduled 12648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=18292
Sync err accum 82, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294786664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:08:05 [debug] Driver 0: pos -3473, 10060.2 steps/mm, standstill, SG min 0, mspos 504, reads 27094, writes 0 timeouts 0
2025-04-24 11:08:05 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36108/37176
2025-04-24 11:08:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:05 [info] currentZPosition:0.105
2025-04-24 11:08:07 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:07 [debug] Diagnostics for board 50:
2025-04-24 11:08:07 [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 11:08:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:11 ago, cause: software
2025-04-24 11:08:07 [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 11:08:07 [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 11:08:07 [debug] Moves scheduled 12652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 89, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:08:07 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16129, writes 0 timeouts 0
2025-04-24 11:08:07 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37176
2025-04-24 11:08:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:07 [info] currentZPosition:0.106
2025-04-24 11:08:07 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:08 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:08 [debug] Diagnostics for board 50:
2025-04-24 11:08:08 [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 11:08:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:13 ago, cause: software
2025-04-24 11:08:08 [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 11:08:08 [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 11:08:08 [debug] Moves scheduled 12658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:08:08 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 21513, writes 0 timeouts 0
2025-04-24 11:08:08 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 11:08:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:08 [info] currentZPosition:0.105
2025-04-24 11:08:10 [debug] Stopped at height 0.104 mm
2025-04-24 11:08:10 [debug] Diagnostics for board 50:
2025-04-24 11:08:10 [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 11:08:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:15 ago, cause: software
2025-04-24 11:08:10 [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 11:08:10 [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 11:08:10 [debug] Moves scheduled 12662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17857
Sync err accum 100, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:10 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16870, writes 0 timeouts 0
2025-04-24 11:08:10 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37176
2025-04-24 11:08:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:10 [info] currentZPosition:0.104
2025-04-24 11:08:11 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:11 [debug] Diagnostics for board 50:
2025-04-24 11:08:11 [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 11:08:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:16 ago, cause: software
2025-04-24 11:08:11 [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 11:08:11 [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 11:08:11 [debug] Moves scheduled 12666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:11 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16585, writes 0 timeouts 0
2025-04-24 11:08:11 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37174
2025-04-24 11:08:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:11 [info] currentZPosition:0.106
2025-04-24 11:08:11 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:13 [debug] Stopped at height 0.103 mm
2025-04-24 11:08:13 [debug] Diagnostics for board 50:
2025-04-24 11:08:13 [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 11:08:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:18 ago, cause: software
2025-04-24 11:08:13 [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 11:08:13 [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 11:08:13 [debug] Moves scheduled 12672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=726, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:13 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 21417, writes 11 timeouts 1
2025-04-24 11:08:13 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36379/37177
2025-04-24 11:08:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:13 [info] currentZPosition:0.103
2025-04-24 11:08:13 [debug] Stopped at height 0.104 mm
2025-04-24 11:08:14 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:14 [debug] Diagnostics for board 50:
2025-04-24 11:08:14 [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 11:08:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:19 ago, cause: software
2025-04-24 11:08:14 [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 11:08:14 [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 11:08:14 [debug] Moves scheduled 12678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:14 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 19958, writes 0 timeouts 0
2025-04-24 11:08:14 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36109/37177
2025-04-24 11:08:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:14 [info] currentZPosition:0.107
2025-04-24 11:08:15 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:16 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:16 [debug] Diagnostics for board 50:
2025-04-24 11:08:16 [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 11:08:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:21 ago, cause: software
2025-04-24 11:08:16 [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 11:08:16 [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 11:08:16 [debug] Moves scheduled 12684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 88, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:08:16 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20614, writes 0 timeouts 0
2025-04-24 11:08:16 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36406/37176
2025-04-24 11:08:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:16 [info] currentZPosition:0.107
2025-04-24 11:08:17 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:17 [debug] Diagnostics for board 50:
2025-04-24 11:08:17 [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 11:08:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:22 ago, cause: software
2025-04-24 11:08:17 [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 11:08:17 [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 11:08:17 [debug] Moves scheduled 12688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:17 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17547, writes 0 timeouts 0
2025-04-24 11:08:17 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37179
2025-04-24 11:08:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:17 [info] currentZPosition:0.106
2025-04-24 11:08:19 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:19 [debug] Diagnostics for board 50:
2025-04-24 11:08:19 [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 11:08:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:10:24 ago, cause: software
2025-04-24 11:08:19 [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 11:08:19 [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 11:08:19 [debug] Moves scheduled 12692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=18292
Sync err accum 66, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:19 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16548, writes 0 timeouts 0
2025-04-24 11:08:19 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36408/37177
2025-04-24 11:08:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:19 [info] currentZPosition:0.106
2025-04-24 11:08:20 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:20 [debug] Diagnostics for board 50:
2025-04-24 11:08:20 [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 11:08:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:25 ago, cause: software
2025-04-24 11:08:20 [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 11:08:20 [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 11:08:20 [debug] Moves scheduled 12696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6944, max=17045
Sync err accum 66, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:08:20 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17454, writes 0 timeouts 0
2025-04-24 11:08:20 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36094/37176
2025-04-24 11:08:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:20 [info] currentZPosition:0.105
2025-04-24 11:08:21 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:21 [debug] Diagnostics for board 50:
2025-04-24 11:08:21 [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 11:08:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:26 ago, cause: software
2025-04-24 11:08:21 [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 11:08:21 [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 11:08:21 [debug] Moves scheduled 12700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=18292
Sync err accum 80, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:08:21 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16169, writes 0 timeouts 0
2025-04-24 11:08:21 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37169
2025-04-24 11:08:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:21 [info] currentZPosition:0.106
2025-04-24 11:08:22 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:23 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:23 [debug] Diagnostics for board 50:
2025-04-24 11:08:23 [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 11:08:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:28 ago, cause: software
2025-04-24 11:08:23 [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 11:08:23 [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 11:08:23 [debug] Moves scheduled 12706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 95, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:08:23 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 21212, writes 0 timeouts 0
2025-04-24 11:08:23 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37169
2025-04-24 11:08:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:23 [info] currentZPosition:0.106
2025-04-24 11:08:24 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:24 [debug] Diagnostics for board 50:
2025-04-24 11:08:24 [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 11:08:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:29 ago, cause: software
2025-04-24 11:08:24 [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 11:08:24 [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 11:08:24 [debug] Moves scheduled 12710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 105, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:24 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16602, writes 0 timeouts 0
2025-04-24 11:08:24 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36378/37175
2025-04-24 11:08:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:24 [info] currentZPosition:0.105
2025-04-24 11:08:26 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:26 [debug] Diagnostics for board 50:
2025-04-24 11:08:26 [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 11:08:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:31 ago, cause: software
2025-04-24 11:08:26 [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 11:08:26 [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 11:08:26 [debug] Moves scheduled 12714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 113, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:26 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16818, writes 0 timeouts 0
2025-04-24 11:08:26 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37174
2025-04-24 11:08:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:26 [info] currentZPosition:0.107
2025-04-24 11:08:27 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:27 [debug] Diagnostics for board 50:
2025-04-24 11:08:27 [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 11:08:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:32 ago, cause: software
2025-04-24 11:08:27 [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 11:08:27 [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 11:08:27 [debug] Moves scheduled 12718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 119, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932056 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:27 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16786, writes 0 timeouts 0
2025-04-24 11:08:27 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37176
2025-04-24 11:08:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:27 [info] currentZPosition:0.106
2025-04-24 11:08:29 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:29 [debug] Diagnostics for board 50:
2025-04-24 11:08:29 [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 11:08:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:10:33 ago, cause: software
2025-04-24 11:08:29 [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 11:08:29 [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 11:08:29 [debug] Moves scheduled 12722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6756, max=17045
Sync err accum 125, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:29 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17306, writes 0 timeouts 0
2025-04-24 11:08:29 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37176
2025-04-24 11:08:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:29 [info] currentZPosition:0.106
2025-04-24 11:08:30 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:30 [debug] Diagnostics for board 50:
2025-04-24 11:08:30 [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 11:08:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:35 ago, cause: software
2025-04-24 11:08:30 [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 11:08:30 [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 11:08:30 [debug] Moves scheduled 12726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 126, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:30 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16284, writes 0 timeouts 0
2025-04-24 11:08:30 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37176
2025-04-24 11:08:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:30 [info] currentZPosition:0.107
2025-04-24 11:08:31 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:31 [debug] Diagnostics for board 50:
2025-04-24 11:08:31 [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 11:08:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:36 ago, cause: software
2025-04-24 11:08:31 [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 11:08:31 [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 11:08:31 [debug] Moves scheduled 12730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6521, max=17045
Sync err accum 125, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:31 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17532, writes 0 timeouts 0
2025-04-24 11:08:31 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:08:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:31 [info] currentZPosition:0.105
2025-04-24 11:08:33 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:33 [debug] Diagnostics for board 50:
2025-04-24 11:08:33 [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 11:08:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:37 ago, cause: software
2025-04-24 11:08:33 [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 11:08:33 [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 11:08:33 [debug] Moves scheduled 12734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 121, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:08:33 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16600, writes 0 timeouts 0
2025-04-24 11:08:33 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36280/37175
2025-04-24 11:08:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:33 [info] currentZPosition:0.105
2025-04-24 11:08:34 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:34 [debug] Diagnostics for board 50:
2025-04-24 11:08:34 [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 11:08:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:39 ago, cause: software
2025-04-24 11:08:34 [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 11:08:34 [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 11:08:34 [debug] Moves scheduled 12738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 117, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:34 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16714, writes 0 timeouts 0
2025-04-24 11:08:34 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37174
2025-04-24 11:08:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:34 [info] currentZPosition:0.107
2025-04-24 11:08:34 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:36 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:36 [debug] Diagnostics for board 50:
2025-04-24 11:08:36 [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 11:08:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:40 ago, cause: software
2025-04-24 11:08:36 [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 11:08:36 [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 11:08:36 [debug] Moves scheduled 12744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 104, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:08:36 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20988, writes 0 timeouts 0
2025-04-24 11:08:36 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37174
2025-04-24 11:08:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:36 [info] currentZPosition:0.105
2025-04-24 11:08:37 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:37 [debug] Diagnostics for board 50:
2025-04-24 11:08:37 [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 11:08:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:42 ago, cause: software
2025-04-24 11:08:37 [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 11:08:37 [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 11:08:37 [debug] Moves scheduled 12748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 91, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:08:37 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17207, writes 0 timeouts 0
2025-04-24 11:08:37 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37176
2025-04-24 11:08:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:37 [info] currentZPosition:0.105
2025-04-24 11:08:38 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:38 [debug] Diagnostics for board 50:
2025-04-24 11:08:38 [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 11:08:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:43 ago, cause: software
2025-04-24 11:08:38 [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 11:08:38 [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 11:08:38 [debug] Moves scheduled 12752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 79, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:38 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16406, writes 0 timeouts 0
2025-04-24 11:08:38 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37178
2025-04-24 11:08:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:38 [info] currentZPosition:0.106
2025-04-24 11:08:40 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:40 [debug] Diagnostics for board 50:
2025-04-24 11:08:40 [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 11:08:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:44 ago, cause: software
2025-04-24 11:08:40 [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 11:08:40 [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 11:08:40 [debug] Moves scheduled 12756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 62, peak jitter -4/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:40 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17002, writes 0 timeouts 0
2025-04-24 11:08:40 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36114/37178
2025-04-24 11:08:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:40 [info] currentZPosition:0.106
2025-04-24 11:08:41 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:41 [debug] Diagnostics for board 50:
2025-04-24 11:08:41 [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 11:08:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:46 ago, cause: software
2025-04-24 11:08:41 [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 11:08:41 [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 11:08:41 [debug] Moves scheduled 12760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17857
Sync err accum 71, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:41 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16634, writes 0 timeouts 0
2025-04-24 11:08:41 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37175
2025-04-24 11:08:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:41 [info] currentZPosition:0.106
2025-04-24 11:08:42 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:42 [debug] Diagnostics for board 50:
2025-04-24 11:08:42 [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 11:08:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:47 ago, cause: software
2025-04-24 11:08:42 [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 11:08:42 [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 11:08:42 [debug] Moves scheduled 12764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:42 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17193, writes 0 timeouts 0
2025-04-24 11:08:42 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:08:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:42 [info] currentZPosition:0.106
2025-04-24 11:08:44 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:44 [debug] Diagnostics for board 50:
2025-04-24 11:08:44 [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 11:08:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:48 ago, cause: software
2025-04-24 11:08:44 [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 11:08:44 [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 11:08:44 [debug] Moves scheduled 12768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:44 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16780, writes 0 timeouts 0
2025-04-24 11:08:44 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36158/37177
2025-04-24 11:08:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:44 [info] currentZPosition:0.106
2025-04-24 11:08:45 [debug] Stopped at height 0.108 mm
2025-04-24 11:08:45 [debug] Diagnostics for board 50:
2025-04-24 11:08:45 [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 11:08:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:50 ago, cause: software
2025-04-24 11:08:45 [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 11:08:45 [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 11:08:45 [debug] Moves scheduled 12772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:08:45 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16324, writes 0 timeouts 0
2025-04-24 11:08:45 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 11:08:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 803
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:45 [info] currentZPosition:0.108
2025-04-24 11:08:45 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:47 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:47 [debug] Diagnostics for board 50:
2025-04-24 11:08:47 [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 11:08:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:51 ago, cause: software
2025-04-24 11:08:47 [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 11:08:47 [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 11:08:47 [debug] Moves scheduled 12778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17857
Sync err accum 101, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:47 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 21191, writes 0 timeouts 0
2025-04-24 11:08:47 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36161/37173
2025-04-24 11:08:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:47 [info] currentZPosition:0.106
2025-04-24 11:08:48 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:48 [debug] Diagnostics for board 50:
2025-04-24 11:08:48 [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 11:08:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:53 ago, cause: software
2025-04-24 11:08:48 [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 11:08:48 [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 11:08:48 [debug] Moves scheduled 12782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=18292
Sync err accum 104, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:48 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17573, writes 0 timeouts 0
2025-04-24 11:08:48 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37171
2025-04-24 11:08:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:48 [info] currentZPosition:0.105
2025-04-24 11:08:49 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:49 [debug] Diagnostics for board 50:
2025-04-24 11:08:49 [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 11:08:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:54 ago, cause: software
2025-04-24 11:08:49 [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 11:08:49 [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 11:08:49 [debug] Moves scheduled 12786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17857
Sync err accum 100, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:08:49 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 15907, writes 0 timeouts 0
2025-04-24 11:08:49 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36150/37175
2025-04-24 11:08:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:49 [info] currentZPosition:0.107
2025-04-24 11:08:50 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:51 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:51 [debug] Diagnostics for board 50:
2025-04-24 11:08:51 [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 11:08:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:56 ago, cause: software
2025-04-24 11:08:51 [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 11:08:51 [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 11:08:51 [debug] Moves scheduled 12792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17857
Sync err accum 97, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:51 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 21699, writes 0 timeouts 0
2025-04-24 11:08:51 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37174
2025-04-24 11:08:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:51 [info] currentZPosition:0.105
2025-04-24 11:08:51 [debug] Stopped at height 0.104 mm
2025-04-24 11:08:53 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:53 [debug] Diagnostics for board 50:
2025-04-24 11:08:53 [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 11:08:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:58 ago, cause: software
2025-04-24 11:08:53 [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 11:08:53 [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 11:08:53 [debug] Moves scheduled 12798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17857
Sync err accum 90, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934426 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:53 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20388, writes 0 timeouts 0
2025-04-24 11:08:53 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37175
2025-04-24 11:08:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:53 [info] currentZPosition:0.105
2025-04-24 11:08:54 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:54 [debug] Diagnostics for board 50:
2025-04-24 11:08:54 [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 11:08:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:10:59 ago, cause: software
2025-04-24 11:08:54 [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 11:08:54 [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 11:08:54 [debug] Moves scheduled 12802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=18292
Sync err accum 83, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:08:54 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16751, writes 0 timeouts 0
2025-04-24 11:08:54 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36109/37176
2025-04-24 11:08:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:54 [info] currentZPosition:0.106
2025-04-24 11:08:55 [debug] Stopped at height 0.106 mm
2025-04-24 11:08:55 [debug] Diagnostics for board 50:
2025-04-24 11:08:55 [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 11:08:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:00 ago, cause: software
2025-04-24 11:08:55 [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 11:08:55 [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 11:08:55 [debug] Moves scheduled 12806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=495, max=17045
Sync err accum 72, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:55 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16759, writes 11 timeouts 1
2025-04-24 11:08:55 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36169/37178
2025-04-24 11:08:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:55 [info] currentZPosition:0.106
2025-04-24 11:08:57 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:57 [debug] Diagnostics for board 50:
2025-04-24 11:08:57 [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 11:08:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:02 ago, cause: software
2025-04-24 11:08:57 [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 11:08:57 [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 11:08:57 [debug] Moves scheduled 12810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 60, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:08:57 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16627, writes 0 timeouts 0
2025-04-24 11:08:57 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36095/37177
2025-04-24 11:08:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:57 [info] currentZPosition:0.107
2025-04-24 11:08:57 [debug] Stopped at height 0.105 mm
2025-04-24 11:08:58 [debug] Stopped at height 0.107 mm
2025-04-24 11:08:58 [debug] Diagnostics for board 50:
2025-04-24 11:08:58 [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 11:08:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:03 ago, cause: software
2025-04-24 11:08:58 [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 11:08:58 [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 11:08:58 [debug] Moves scheduled 12816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17857
Sync err accum 75, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:08:58 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20541, writes 0 timeouts 0
2025-04-24 11:08:58 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36162/37175
2025-04-24 11:08:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:08:58 [info] currentZPosition:0.107
2025-04-24 11:08:59 [debug] Stopped at height 0.104 mm
2025-04-24 11:09:00 [debug] Stopped at height 0.105 mm
2025-04-24 11:09:00 [debug] Diagnostics for board 50:
2025-04-24 11:09:00 [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 11:09:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:05 ago, cause: software
2025-04-24 11:09:00 [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 11:09:00 [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 11:09:00 [debug] Moves scheduled 12822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 92, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294935300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 11:09:00 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 21541, writes 0 timeouts 0
2025-04-24 11:09:00 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37174
2025-04-24 11:09:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:00 [info] currentZPosition:0.105
2025-04-24 11:09:01 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:01 [debug] Diagnostics for board 50:
2025-04-24 11:09:01 [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 11:09:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:06 ago, cause: software
2025-04-24 11:09:01 [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 11:09:01 [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 11:09:01 [debug] Moves scheduled 12826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 101, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:01 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 15848, writes 0 timeouts 0
2025-04-24 11:09:01 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37175
2025-04-24 11:09:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:01 [info] currentZPosition:0.108
2025-04-24 11:09:02 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:03 [debug] Stopped at height 0.106 mm
2025-04-24 11:09:03 [debug] Diagnostics for board 50:
2025-04-24 11:09:03 [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 11:09:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:08 ago, cause: software
2025-04-24 11:09:03 [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 11:09:03 [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 11:09:03 [debug] Moves scheduled 12832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 110, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:03 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 21774, writes 0 timeouts 0
2025-04-24 11:09:03 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37174
2025-04-24 11:09:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:03 [info] currentZPosition:0.106
2025-04-24 11:09:04 [debug] Stopped at height 0.104 mm
2025-04-24 11:09:05 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:05 [debug] Diagnostics for board 50:
2025-04-24 11:09:05 [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 11:09:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:10 ago, cause: software
2025-04-24 11:09:05 [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 11:09:05 [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 11:09:05 [debug] Moves scheduled 12838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 116, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:05 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20308, writes 0 timeouts 0
2025-04-24 11:09:05 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36165/37175
2025-04-24 11:09:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:05 [info] currentZPosition:0.107
2025-04-24 11:09:05 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:06 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:06 [debug] Diagnostics for board 50:
2025-04-24 11:09:06 [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 11:09:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:11 ago, cause: software
2025-04-24 11:09:06 [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 11:09:06 [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 11:09:06 [debug] Moves scheduled 12844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6578, max=17045
Sync err accum 116, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:06 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20888, writes 0 timeouts 0
2025-04-24 11:09:06 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36094/37175
2025-04-24 11:09:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:06 [info] currentZPosition:0.108
2025-04-24 11:09:08 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:08 [debug] Diagnostics for board 50:
2025-04-24 11:09:08 [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 11:09:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:13 ago, cause: software
2025-04-24 11:09:08 [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 11:09:08 [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 11:09:08 [debug] Moves scheduled 12848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 112, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:09:08 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16840, writes 0 timeouts 0
2025-04-24 11:09:08 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37174
2025-04-24 11:09:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:08 [info] currentZPosition:0.107
2025-04-24 11:09:09 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:09 [debug] Diagnostics for board 50:
2025-04-24 11:09:09 [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 11:09:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:14 ago, cause: software
2025-04-24 11:09:09 [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 11:09:09 [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 11:09:09 [debug] Moves scheduled 12852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 107, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:09:09 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16599, writes 0 timeouts 0
2025-04-24 11:09:09 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36104/37175
2025-04-24 11:09:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:09 [info] currentZPosition:0.109
2025-04-24 11:09:09 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:11 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:11 [debug] Diagnostics for board 50:
2025-04-24 11:09:11 [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 11:09:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:11:16 ago, cause: software
2025-04-24 11:09:11 [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 11:09:11 [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 11:09:11 [debug] Moves scheduled 12858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6696, max=17441
Sync err accum 100, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:09:11 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20540, writes 0 timeouts 0
2025-04-24 11:09:11 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36161/37174
2025-04-24 11:09:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:11 [info] currentZPosition:0.108
2025-04-24 11:09:12 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:12 [debug] Diagnostics for board 50:
2025-04-24 11:09:12 [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 11:09:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:17 ago, cause: software
2025-04-24 11:09:12 [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 11:09:12 [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 11:09:12 [debug] Moves scheduled 12862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
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 4294821636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:12 [debug] Driver 0: pos -3471, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 19545, writes 0 timeouts 0
2025-04-24 11:09:12 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37178
2025-04-24 11:09:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:12 [info] currentZPosition:0.107
2025-04-24 11:09:13 [debug] Stopped at height 0.106 mm
2025-04-24 11:09:14 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:14 [debug] Diagnostics for board 50:
2025-04-24 11:09:14 [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 11:09:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:19 ago, cause: software
2025-04-24 11:09:14 [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 11:09:14 [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 11:09:14 [debug] Moves scheduled 12868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 74, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:14 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20218, writes 0 timeouts 0
2025-04-24 11:09:14 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36160/37178
2025-04-24 11:09:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:14 [info] currentZPosition:0.108
2025-04-24 11:09:14 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:16 [debug] Stopped at height 0.106 mm
2025-04-24 11:09:16 [debug] Diagnostics for board 50:
2025-04-24 11:09:16 [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 11:09:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:20 ago, cause: software
2025-04-24 11:09:16 [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 11:09:16 [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 11:09:16 [debug] Moves scheduled 12874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 61, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:16 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 21759, writes 0 timeouts 0
2025-04-24 11:09:16 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36105/37178
2025-04-24 11:09:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:16 [info] currentZPosition:0.106
2025-04-24 11:09:16 [debug] Stopped at height 0.104 mm
2025-04-24 11:09:17 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:17 [debug] Diagnostics for board 50:
2025-04-24 11:09:17 [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 11:09:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:22 ago, cause: software
2025-04-24 11:09:17 [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 11:09:17 [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 11:09:17 [debug] Moves scheduled 12880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:17 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20331, writes 0 timeouts 0
2025-04-24 11:09:17 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36157/37171
2025-04-24 11:09:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:17 [info] currentZPosition:0.107
2025-04-24 11:09:18 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 11:09:18 [debug] Stopped at height 0.105 mm
2025-04-24 11:09:19 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:19 [debug] Diagnostics for board 50:
2025-04-24 11:09:19 [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 11:09:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:24 ago, cause: software
2025-04-24 11:09:19 [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 11:09:19 [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 11:09:19 [debug] Moves scheduled 12887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=18292
Sync err accum 90, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:19 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 24178, writes 0 timeouts 0
2025-04-24 11:09:19 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36107/37174
2025-04-24 11:09:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:19 [info] currentZPosition:0.108
2025-04-24 11:09:20 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:20 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:20 [debug] Stopped at height 0.106 mm
2025-04-24 11:09:22 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:22 [debug] Diagnostics for board 50:
2025-04-24 11:09:22 [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 11:09:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:26 ago, cause: software
2025-04-24 11:09:22 [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 11:09:22 [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 11:09:22 [debug] Moves scheduled 12897, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:22 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 28945, writes 0 timeouts 0
2025-04-24 11:09:22 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 285, adv 36164/37175
2025-04-24 11:09:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:22 [info] currentZPosition:0.107
2025-04-24 11:09:23 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:23 [debug] Diagnostics for board 50:
2025-04-24 11:09:23 [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 11:09:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:28 ago, cause: software
2025-04-24 11:09:23 [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 11:09:23 [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 11:09:23 [debug] Moves scheduled 12901, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17857
Sync err accum 105, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:23 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16400, writes 0 timeouts 0
2025-04-24 11:09:23 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36094/37176
2025-04-24 11:09:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:23 [info] currentZPosition:0.110
2025-04-24 11:09:23 [debug] Stopped at height 0.112 mm
2025-04-24 11:09:24 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:25 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:25 [debug] Diagnostics for board 50:
2025-04-24 11:09:25 [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 11:09:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:30 ago, cause: software
2025-04-24 11:09:25 [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 11:09:25 [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 11:09:25 [debug] Moves scheduled 12909, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 106, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:25 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 24911, writes 0 timeouts 0
2025-04-24 11:09:25 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 36164/37171
2025-04-24 11:09:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:25 [info] currentZPosition:0.109
2025-04-24 11:09:26 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:26 [debug] Diagnostics for board 50:
2025-04-24 11:09:26 [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 11:09:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:31 ago, cause: software
2025-04-24 11:09:26 [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 11:09:26 [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 11:09:26 [debug] Moves scheduled 12913, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 102, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:26 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17841, writes 0 timeouts 0
2025-04-24 11:09:26 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36092/37176
2025-04-24 11:09:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:26 [info] currentZPosition:0.107
2025-04-24 11:09:27 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:28 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:28 [debug] Diagnostics for board 50:
2025-04-24 11:09:28 [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 11:09:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:33 ago, cause: software
2025-04-24 11:09:28 [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 11:09:28 [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 11:09:28 [debug] Moves scheduled 12919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:28 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 19887, writes 0 timeouts 0
2025-04-24 11:09:28 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36159/37173
2025-04-24 11:09:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:28 [info] currentZPosition:0.108
2025-04-24 11:09:29 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:29 [debug] Diagnostics for board 50:
2025-04-24 11:09:29 [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 11:09:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:34 ago, cause: software
2025-04-24 11:09:29 [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 11:09:29 [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 11:09:29 [debug] Moves scheduled 12923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:29 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17719, writes 0 timeouts 0
2025-04-24 11:09:29 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37177
2025-04-24 11:09:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:29 [info] currentZPosition:0.107
2025-04-24 11:09:30 [debug] Stopped at height 0.105 mm
2025-04-24 11:09:31 [debug] Stopped at height 0.106 mm
2025-04-24 11:09:31 [debug] Diagnostics for board 50:
2025-04-24 11:09:31 [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 11:09:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:36 ago, cause: software
2025-04-24 11:09:31 [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 11:09:31 [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 11:09:31 [debug] Moves scheduled 12929, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:31 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20833, writes 0 timeouts 0
2025-04-24 11:09:31 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36281/37177
2025-04-24 11:09:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:31 [info] currentZPosition:0.106
2025-04-24 11:09:32 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:32 [debug] Diagnostics for board 50:
2025-04-24 11:09:32 [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 11:09:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:37 ago, cause: software
2025-04-24 11:09:32 [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 11:09:32 [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 11:09:32 [debug] Moves scheduled 12933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 63, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:32 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16154, writes 0 timeouts 0
2025-04-24 11:09:32 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37175
2025-04-24 11:09:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:32 [info] currentZPosition:0.110
2025-04-24 11:09:33 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:33 [debug] Stopped at height 0.106 mm
2025-04-24 11:09:34 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:34 [debug] Diagnostics for board 50:
2025-04-24 11:09:34 [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 11:09:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:39 ago, cause: software
2025-04-24 11:09:34 [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 11:09:34 [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 11:09:34 [debug] Moves scheduled 12941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=5859, max=17045
Sync err accum 72, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:34 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 25361, writes 0 timeouts 0
2025-04-24 11:09:34 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36399/37174
2025-04-24 11:09:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:34 [info] currentZPosition:0.107
2025-04-24 11:09:36 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:36 [debug] Diagnostics for board 50:
2025-04-24 11:09:36 [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 11:09:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:40 ago, cause: software
2025-04-24 11:09:36 [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 11:09:36 [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 11:09:36 [debug] Moves scheduled 12945, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:36 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16309, writes 0 timeouts 0
2025-04-24 11:09:36 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37171
2025-04-24 11:09:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8761, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:36 [info] currentZPosition:0.110
2025-04-24 11:09:36 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:37 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:37 [debug] Diagnostics for board 50:
2025-04-24 11:09:37 [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 11:09:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:42 ago, cause: software
2025-04-24 11:09:37 [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 11:09:37 [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 11:09:37 [debug] Moves scheduled 12951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:37 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20899, writes 0 timeouts 0
2025-04-24 11:09:37 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37176
2025-04-24 11:09:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:37 [info] currentZPosition:0.109
2025-04-24 11:09:39 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:39 [debug] Diagnostics for board 50:
2025-04-24 11:09:39 [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 11:09:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:43 ago, cause: software
2025-04-24 11:09:39 [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 11:09:39 [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 11:09:39 [debug] Moves scheduled 12955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
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 4294929464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:39 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17246, writes 0 timeouts 0
2025-04-24 11:09:39 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36110/37176
2025-04-24 11:09:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:39 [info] currentZPosition:0.108
2025-04-24 11:09:40 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:40 [debug] Diagnostics for board 50:
2025-04-24 11:09:40 [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 11:09:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:45 ago, cause: software
2025-04-24 11:09:40 [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 11:09:40 [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 11:09:40 [debug] Moves scheduled 12959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:40 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16084, writes 0 timeouts 0
2025-04-24 11:09:40 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37176
2025-04-24 11:09:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:40 [info] currentZPosition:0.110
2025-04-24 11:09:40 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:42 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:42 [debug] Diagnostics for board 50:
2025-04-24 11:09:42 [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 11:09:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:46 ago, cause: software
2025-04-24 11:09:42 [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 11:09:42 [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 11:09:42 [debug] Moves scheduled 12965, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5681, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:42 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 21782, writes 0 timeouts 0
2025-04-24 11:09:42 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36101/37177
2025-04-24 11:09:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:42 [info] currentZPosition:0.108
2025-04-24 11:09:42 [debug] Stopped at height 0.107 mm
2025-04-24 11:09:43 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:43 [debug] Diagnostics for board 50:
2025-04-24 11:09:43 [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 11:09:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:48 ago, cause: software
2025-04-24 11:09:43 [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 11:09:43 [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 11:09:43 [debug] Moves scheduled 12971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 69, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:43 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20282, writes 0 timeouts 0
2025-04-24 11:09:43 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36398/37177
2025-04-24 11:09:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:43 [info] currentZPosition:0.109
2025-04-24 11:09:45 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:45 [debug] Diagnostics for board 50:
2025-04-24 11:09:45 [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 11:09:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:49 ago, cause: software
2025-04-24 11:09:45 [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 11:09:45 [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 11:09:45 [debug] Moves scheduled 12975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:45 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17154, writes 0 timeouts 0
2025-04-24 11:09:45 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37179
2025-04-24 11:09:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:45 [info] currentZPosition:0.109
2025-04-24 11:09:46 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:46 [debug] Diagnostics for board 50:
2025-04-24 11:09:46 [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 11:09:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:51 ago, cause: software
2025-04-24 11:09:46 [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 11:09:46 [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 11:09:46 [debug] Moves scheduled 12979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 74, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:46 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16680, writes 0 timeouts 0
2025-04-24 11:09:46 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36397/37173
2025-04-24 11:09:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:46 [info] currentZPosition:0.108
2025-04-24 11:09:47 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:47 [debug] Diagnostics for board 50:
2025-04-24 11:09:47 [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 11:09:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:52 ago, cause: software
2025-04-24 11:09:47 [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 11:09:47 [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 11:09:47 [debug] Moves scheduled 12983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:47 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16968, writes 0 timeouts 0
2025-04-24 11:09:47 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37168
2025-04-24 11:09:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:47 [info] currentZPosition:0.109
2025-04-24 11:09:49 [debug] Stopped at height 0.108 mm
2025-04-24 11:09:49 [debug] Diagnostics for board 50:
2025-04-24 11:09:49 [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 11:09:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:53 ago, cause: software
2025-04-24 11:09:49 [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 11:09:49 [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 11:09:49 [debug] Moves scheduled 12987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17045
Sync err accum 79, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:49 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16921, writes 0 timeouts 0
2025-04-24 11:09:49 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37174
2025-04-24 11:09:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:49 [info] currentZPosition:0.108
2025-04-24 11:09:50 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:50 [debug] Diagnostics for board 50:
2025-04-24 11:09:50 [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 11:09:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:55 ago, cause: software
2025-04-24 11:09:50 [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 11:09:50 [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 11:09:50 [debug] Moves scheduled 12991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 80, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:50 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17048, writes 0 timeouts 0
2025-04-24 11:09:50 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 11:09:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:50 [info] currentZPosition:0.109
2025-04-24 11:09:51 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:51 [debug] Diagnostics for board 50:
2025-04-24 11:09:51 [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 11:09:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:56 ago, cause: software
2025-04-24 11:09:51 [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 11:09:51 [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 11:09:51 [debug] Moves scheduled 12995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
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 4294933933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:51 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16156, writes 0 timeouts 0
2025-04-24 11:09:51 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37177
2025-04-24 11:09:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:51 [info] currentZPosition:0.110
2025-04-24 11:09:52 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:53 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:53 [debug] Diagnostics for board 50:
2025-04-24 11:09:53 [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 11:09:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:58 ago, cause: software
2025-04-24 11:09:53 [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 11:09:53 [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 11:09:53 [debug] Moves scheduled 13001, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=18292
Sync err accum 70, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:09:53 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21258, writes 0 timeouts 0
2025-04-24 11:09:53 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37174
2025-04-24 11:09:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:53 [info] currentZPosition:0.110
2025-04-24 11:09:54 [debug] Stopped at height 0.110 mm
2025-04-24 11:09:54 [debug] Diagnostics for board 50:
2025-04-24 11:09:54 [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 11:09:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:11:59 ago, cause: software
2025-04-24 11:09:54 [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 11:09:54 [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 11:09:54 [debug] Moves scheduled 13005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6696, max=17045
Sync err accum 62, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:09:54 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16573, writes 0 timeouts 0
2025-04-24 11:09:54 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37173
2025-04-24 11:09:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:54 [info] currentZPosition:0.110
2025-04-24 11:09:56 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:56 [debug] Diagnostics for board 50:
2025-04-24 11:09:56 [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 11:09:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:01 ago, cause: software
2025-04-24 11:09:56 [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 11:09:56 [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 11:09:56 [debug] Moves scheduled 13009, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 70, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:56 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17494, writes 0 timeouts 0
2025-04-24 11:09:56 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37170
2025-04-24 11:09:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:56 [info] currentZPosition:0.109
2025-04-24 11:09:57 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:57 [debug] Diagnostics for board 50:
2025-04-24 11:09:57 [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 11:09:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:02 ago, cause: software
2025-04-24 11:09:57 [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 11:09:57 [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 11:09:57 [debug] Moves scheduled 13013, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:57 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16558, writes 0 timeouts 0
2025-04-24 11:09:57 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37172
2025-04-24 11:09:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:57 [info] currentZPosition:0.109
2025-04-24 11:09:58 [debug] Stopped at height 0.109 mm
2025-04-24 11:09:58 [debug] Diagnostics for board 50:
2025-04-24 11:09:58 [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 11:09:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:03 ago, cause: software
2025-04-24 11:09:58 [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 11:09:58 [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 11:09:58 [debug] Moves scheduled 13017, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:09:58 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17039, writes 0 timeouts 0
2025-04-24 11:09:58 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37175
2025-04-24 11:09:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:09:59 [info] currentZPosition:0.109
2025-04-24 11:10:00 [debug] Stopped at height 0.108 mm
2025-04-24 11:10:00 [debug] Diagnostics for board 50:
2025-04-24 11:10:00 [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 11:10:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:05 ago, cause: software
2025-04-24 11:10:00 [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 11:10:00 [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 11:10:00 [debug] Moves scheduled 13021, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=900, max=17045
Sync err accum 80, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:00 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17014, writes 11 timeouts 1
2025-04-24 11:10:00 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36405/37173
2025-04-24 11:10:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:00 [info] currentZPosition:0.108
2025-04-24 11:10:00 [debug] Stopped at height 0.107 mm
2025-04-24 11:10:01 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:01 [debug] Diagnostics for board 50:
2025-04-24 11:10:01 [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 11:10:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:06 ago, cause: software
2025-04-24 11:10:01 [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 11:10:01 [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 11:10:01 [debug] Moves scheduled 13027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5813, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:01 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20471, writes 0 timeouts 0
2025-04-24 11:10:01 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36097/37175
2025-04-24 11:10:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:02 [info] currentZPosition:0.110
2025-04-24 11:10:02 [debug] Stopped at height 0.108 mm
2025-04-24 11:10:03 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:03 [debug] Diagnostics for board 50:
2025-04-24 11:10:03 [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 11:10:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:08 ago, cause: software
2025-04-24 11:10:03 [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 11:10:03 [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 11:10:03 [debug] Moves scheduled 13033, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:03 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20521, writes 0 timeouts 0
2025-04-24 11:10:03 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 286, adv 36404/37174
2025-04-24 11:10:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:03 [info] currentZPosition:0.110
2025-04-24 11:10:03 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:05 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:05 [debug] Diagnostics for board 50:
2025-04-24 11:10:05 [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 11:10:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:10 ago, cause: software
2025-04-24 11:10:05 [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 11:10:05 [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 11:10:05 [debug] Moves scheduled 13039, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 69, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:05 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 21561, writes 0 timeouts 0
2025-04-24 11:10:05 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 11:10:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:05 [info] currentZPosition:0.109
2025-04-24 11:10:05 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:06 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:06 [debug] Diagnostics for board 50:
2025-04-24 11:10:06 [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 11:10:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:11 ago, cause: software
2025-04-24 11:10:06 [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 11:10:06 [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 11:10:06 [debug] Moves scheduled 13045, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:06 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20462, writes 0 timeouts 0
2025-04-24 11:10:06 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36397/37174
2025-04-24 11:10:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:07 [info] currentZPosition:0.109
2025-04-24 11:10:07 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:08 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:08 [debug] Diagnostics for board 50:
2025-04-24 11:10:08 [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 11:10:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:12:13 ago, cause: software
2025-04-24 11:10:08 [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 11:10:08 [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 11:10:08 [debug] Moves scheduled 13051, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:08 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20481, writes 0 timeouts 0
2025-04-24 11:10:08 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37173
2025-04-24 11:10:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:08 [info] currentZPosition:0.110
2025-04-24 11:10:09 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:10 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:10 [debug] Diagnostics for board 50:
2025-04-24 11:10:10 [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 11:10:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:15 ago, cause: software
2025-04-24 11:10:10 [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 11:10:10 [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 11:10:10 [debug] Moves scheduled 13057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17441
Sync err accum 74, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:10 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20593, writes 0 timeouts 0
2025-04-24 11:10:10 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36400/37174
2025-04-24 11:10:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:10 [info] currentZPosition:0.110
2025-04-24 11:10:11 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:11 [debug] Diagnostics for board 50:
2025-04-24 11:10:11 [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 11:10:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:16 ago, cause: software
2025-04-24 11:10:11 [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 11:10:11 [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 11:10:11 [debug] Moves scheduled 13061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:11 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17095, writes 0 timeouts 0
2025-04-24 11:10:11 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36088/37171
2025-04-24 11:10:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:11 [info] currentZPosition:0.110
2025-04-24 11:10:12 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:12 [debug] Diagnostics for board 50:
2025-04-24 11:10:12 [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 11:10:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:17 ago, cause: software
2025-04-24 11:10:12 [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 11:10:12 [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 11:10:12 [debug] Moves scheduled 13065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=785, max=17045
Sync err accum 77, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:12 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16752, writes 11 timeouts 1
2025-04-24 11:10:12 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37174
2025-04-24 11:10:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:13 [info] currentZPosition:0.110
2025-04-24 11:10:14 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:14 [debug] Diagnostics for board 50:
2025-04-24 11:10:14 [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 11:10:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:19 ago, cause: software
2025-04-24 11:10:14 [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 11:10:14 [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 11:10:14 [debug] Moves scheduled 13069, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:14 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17143, writes 0 timeouts 0
2025-04-24 11:10:14 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 11:10:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:14 [info] currentZPosition:0.110
2025-04-24 11:10:15 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:15 [debug] Diagnostics for board 50:
2025-04-24 11:10:15 [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 11:10:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:20 ago, cause: software
2025-04-24 11:10:15 [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 11:10:15 [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 11:10:15 [debug] Moves scheduled 13073, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 66, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:15 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16515, writes 0 timeouts 0
2025-04-24 11:10:15 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36396/37174
2025-04-24 11:10:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:15 [info] currentZPosition:0.110
2025-04-24 11:10:17 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:17 [debug] Diagnostics for board 50:
2025-04-24 11:10:17 [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 11:10:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:21 ago, cause: software
2025-04-24 11:10:17 [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 11:10:17 [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 11:10:17 [debug] Moves scheduled 13077, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:17 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16848, writes 0 timeouts 0
2025-04-24 11:10:17 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37177
2025-04-24 11:10:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:17 [info] currentZPosition:0.111
2025-04-24 11:10:18 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:18 [debug] Diagnostics for board 50:
2025-04-24 11:10:18 [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 11:10:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:23 ago, cause: software
2025-04-24 11:10:18 [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 11:10:18 [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 11:10:18 [debug] Moves scheduled 13081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 69, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:18 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16962, writes 0 timeouts 0
2025-04-24 11:10:18 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37174
2025-04-24 11:10:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:18 [info] currentZPosition:0.110
2025-04-24 11:10:19 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:19 [debug] Diagnostics for board 50:
2025-04-24 11:10:19 [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 11:10:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:24 ago, cause: software
2025-04-24 11:10:19 [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 11:10:19 [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 11:10:19 [debug] Moves scheduled 13085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6250, max=17045
Sync err accum 78, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:19 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17214, writes 0 timeouts 0
2025-04-24 11:10:19 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37173
2025-04-24 11:10:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:19 [info] currentZPosition:0.110
2025-04-24 11:10:21 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:21 [debug] Diagnostics for board 50:
2025-04-24 11:10:21 [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 11:10:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:25 ago, cause: software
2025-04-24 11:10:21 [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 11:10:21 [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 11:10:21 [debug] Moves scheduled 13089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:21 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16355, writes 0 timeouts 0
2025-04-24 11:10:21 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37173
2025-04-24 11:10:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:21 [info] currentZPosition:0.111
2025-04-24 11:10:22 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:22 [debug] Diagnostics for board 50:
2025-04-24 11:10:22 [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 11:10:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:27 ago, cause: software
2025-04-24 11:10:22 [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 11:10:22 [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 11:10:22 [debug] Moves scheduled 13093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:22 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17480, writes 0 timeouts 0
2025-04-24 11:10:22 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37176
2025-04-24 11:10:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:22 [info] currentZPosition:0.110
2025-04-24 11:10:23 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:23 [debug] Diagnostics for board 50:
2025-04-24 11:10:23 [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 11:10:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:28 ago, cause: software
2025-04-24 11:10:23 [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 11:10:23 [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 11:10:23 [debug] Moves scheduled 13097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:23 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16619, writes 0 timeouts 0
2025-04-24 11:10:23 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36395/37175
2025-04-24 11:10:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:23 [info] currentZPosition:0.110
2025-04-24 11:10:25 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:25 [debug] Diagnostics for board 50:
2025-04-24 11:10:25 [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 11:10:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:12:29 ago, cause: software
2025-04-24 11:10:25 [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 11:10:25 [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 11:10:25 [debug] Moves scheduled 13101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:25 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17289, writes 0 timeouts 0
2025-04-24 11:10:25 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37177
2025-04-24 11:10:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:25 [info] currentZPosition:0.110
2025-04-24 11:10:26 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:26 [debug] Diagnostics for board 50:
2025-04-24 11:10:26 [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 11:10:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:31 ago, cause: software
2025-04-24 11:10:26 [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 11:10:26 [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 11:10:26 [debug] Moves scheduled 13105, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:26 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16601, writes 0 timeouts 0
2025-04-24 11:10:26 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36265/37177
2025-04-24 11:10:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:26 [info] currentZPosition:0.110
2025-04-24 11:10:27 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:27 [debug] Diagnostics for board 50:
2025-04-24 11:10:27 [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 11:10:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:32 ago, cause: software
2025-04-24 11:10:27 [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 11:10:27 [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 11:10:27 [debug] Moves scheduled 13109, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 62, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:27 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17537, writes 0 timeouts 0
2025-04-24 11:10:27 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37177
2025-04-24 11:10:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:27 [info] currentZPosition:0.109
2025-04-24 11:10:29 [debug] Stopped at height 0.107 mm
2025-04-24 11:10:29 [debug] Diagnostics for board 50:
2025-04-24 11:10:29 [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 11:10:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:34 ago, cause: software
2025-04-24 11:10:29 [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 11:10:29 [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 11:10:29 [debug] Moves scheduled 13113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17441
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931559 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:29 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17098, writes 0 timeouts 0
2025-04-24 11:10:29 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37175
2025-04-24 11:10:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:29 [info] currentZPosition:0.107
2025-04-24 11:10:29 [debug] Stopped at height 0.106 mm
2025-04-24 11:10:30 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:30 [debug] Diagnostics for board 50:
2025-04-24 11:10:30 [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 11:10:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:35 ago, cause: software
2025-04-24 11:10:30 [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 11:10:30 [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 11:10:30 [debug] Moves scheduled 13119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=5905, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:30 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20486, writes 0 timeouts 0
2025-04-24 11:10:30 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36084/37175
2025-04-24 11:10:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:30 [info] currentZPosition:0.109
2025-04-24 11:10:31 [debug] Stopped at height 0.112 mm
2025-04-24 11:10:31 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:31 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:32 [debug] Stopped at height 0.108 mm
2025-04-24 11:10:33 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:33 [debug] Diagnostics for board 50:
2025-04-24 11:10:33 [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 11:10:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:38 ago, cause: software
2025-04-24 11:10:33 [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 11:10:33 [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 11:10:33 [debug] Moves scheduled 13131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6147, max=18292
Sync err accum 92, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:33 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 32390, writes 0 timeouts 0
2025-04-24 11:10:33 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36161/37176
2025-04-24 11:10:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:33 [info] currentZPosition:0.111
2025-04-24 11:10:33 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:35 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:35 [debug] Diagnostics for board 50:
2025-04-24 11:10:35 [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 11:10:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:40 ago, cause: software
2025-04-24 11:10:35 [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 11:10:35 [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 11:10:35 [debug] Moves scheduled 13137, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 95, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:35 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 21155, writes 0 timeouts 0
2025-04-24 11:10:35 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37176
2025-04-24 11:10:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:35 [info] currentZPosition:0.111
2025-04-24 11:10:36 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:36 [debug] Diagnostics for board 50:
2025-04-24 11:10:36 [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 11:10:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:41 ago, cause: software
2025-04-24 11:10:36 [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 11:10:36 [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 11:10:36 [debug] Moves scheduled 13141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 96, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:36 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16620, writes 0 timeouts 0
2025-04-24 11:10:36 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36151/37175
2025-04-24 11:10:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:36 [info] currentZPosition:0.111
2025-04-24 11:10:37 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:37 [debug] Diagnostics for board 50:
2025-04-24 11:10:37 [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 11:10:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:42 ago, cause: software
2025-04-24 11:10:37 [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 11:10:37 [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 11:10:37 [debug] Moves scheduled 13145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 93, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:37 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17300, writes 0 timeouts 0
2025-04-24 11:10:37 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37176
2025-04-24 11:10:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:37 [info] currentZPosition:0.110
2025-04-24 11:10:39 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:39 [debug] Diagnostics for board 50:
2025-04-24 11:10:39 [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 11:10:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:44 ago, cause: software
2025-04-24 11:10:39 [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 11:10:39 [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 11:10:39 [debug] Moves scheduled 13149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294927566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:39 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16825, writes 0 timeouts 0
2025-04-24 11:10:39 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37175
2025-04-24 11:10:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:39 [info] currentZPosition:0.110
2025-04-24 11:10:40 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:40 [debug] Diagnostics for board 50:
2025-04-24 11:10:40 [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 11:10:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:45 ago, cause: software
2025-04-24 11:10:40 [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 11:10:40 [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 11:10:40 [debug] Moves scheduled 13153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:40 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17088, writes 0 timeouts 0
2025-04-24 11:10:40 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37177
2025-04-24 11:10:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:40 [info] currentZPosition:0.110
2025-04-24 11:10:41 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:41 [debug] Diagnostics for board 50:
2025-04-24 11:10:41 [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 11:10:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:46 ago, cause: software
2025-04-24 11:10:41 [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 11:10:41 [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 11:10:41 [debug] Moves scheduled 13157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=18292
Sync err accum 68, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:41 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16402, writes 0 timeouts 0
2025-04-24 11:10:41 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37176
2025-04-24 11:10:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:42 [info] currentZPosition:0.110
2025-04-24 11:10:43 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:43 [debug] Diagnostics for board 50:
2025-04-24 11:10:43 [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 11:10:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:48 ago, cause: software
2025-04-24 11:10:43 [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 11:10:43 [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 11:10:43 [debug] Moves scheduled 13161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 61, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:43 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16986, writes 0 timeouts 0
2025-04-24 11:10:43 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37177
2025-04-24 11:10:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:43 [info] currentZPosition:0.111
2025-04-24 11:10:44 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:44 [debug] Diagnostics for board 50:
2025-04-24 11:10:44 [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 11:10:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:49 ago, cause: software
2025-04-24 11:10:44 [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 11:10:44 [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 11:10:44 [debug] Moves scheduled 13165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17857
Sync err accum 80, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:44 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16936, writes 0 timeouts 0
2025-04-24 11:10:44 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36151/37173
2025-04-24 11:10:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:44 [info] currentZPosition:0.110
2025-04-24 11:10:46 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:46 [debug] Diagnostics for board 50:
2025-04-24 11:10:46 [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 11:10:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:50 ago, cause: software
2025-04-24 11:10:46 [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 11:10:46 [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 11:10:46 [debug] Moves scheduled 13169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=744, max=17045
Sync err accum 93, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:10:46 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16971, writes 11 timeouts 1
2025-04-24 11:10:46 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37173
2025-04-24 11:10:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:46 [info] currentZPosition:0.111
2025-04-24 11:10:47 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:47 [debug] Diagnostics for board 50:
2025-04-24 11:10:47 [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 11:10:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:52 ago, cause: software
2025-04-24 11:10:47 [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 11:10:47 [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 11:10:47 [debug] Moves scheduled 13173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 105, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:47 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16360, writes 0 timeouts 0
2025-04-24 11:10:47 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36166/37174
2025-04-24 11:10:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:47 [info] currentZPosition:0.111
2025-04-24 11:10:48 [debug] Stopped at height 0.111 mm
2025-04-24 11:10:48 [debug] Diagnostics for board 50:
2025-04-24 11:10:48 [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 11:10:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:53 ago, cause: software
2025-04-24 11:10:48 [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 11:10:48 [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 11:10:48 [debug] Moves scheduled 13177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 115, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:48 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17450, writes 0 timeouts 0
2025-04-24 11:10:48 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37173
2025-04-24 11:10:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:48 [info] currentZPosition:0.111
2025-04-24 11:10:50 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:50 [debug] Diagnostics for board 50:
2025-04-24 11:10:50 [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 11:10:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:54 ago, cause: software
2025-04-24 11:10:50 [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 11:10:50 [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 11:10:50 [debug] Moves scheduled 13181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 121, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:50 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16682, writes 0 timeouts 0
2025-04-24 11:10:50 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36062/37175
2025-04-24 11:10:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:50 [info] currentZPosition:0.110
2025-04-24 11:10:51 [debug] Stopped at height 0.108 mm
2025-04-24 11:10:51 [debug] Diagnostics for board 50:
2025-04-24 11:10:51 [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 11:10:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:12:56 ago, cause: software
2025-04-24 11:10:51 [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 11:10:51 [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 11:10:51 [debug] Moves scheduled 13185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 127, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:10:51 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17755, writes 0 timeouts 0
2025-04-24 11:10:51 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37175
2025-04-24 11:10:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:51 [info] currentZPosition:0.108
2025-04-24 11:10:51 [debug] Stopped at height 0.108 mm
2025-04-24 11:10:53 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:53 [debug] Diagnostics for board 50:
2025-04-24 11:10:53 [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 11:10:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:57 ago, cause: software
2025-04-24 11:10:53 [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 11:10:53 [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 11:10:53 [debug] Moves scheduled 13191, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 121, peak jitter -2/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:10:53 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20366, writes 0 timeouts 0
2025-04-24 11:10:53 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37177
2025-04-24 11:10:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:53 [info] currentZPosition:0.109
2025-04-24 11:10:54 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:54 [debug] Diagnostics for board 50:
2025-04-24 11:10:54 [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 11:10:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:12:59 ago, cause: software
2025-04-24 11:10:54 [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 11:10:54 [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 11:10:54 [debug] Moves scheduled 13195, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 114, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:54 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16919, writes 0 timeouts 0
2025-04-24 11:10:54 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37178
2025-04-24 11:10:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:54 [info] currentZPosition:0.110
2025-04-24 11:10:55 [debug] Stopped at height 0.110 mm
2025-04-24 11:10:55 [debug] Diagnostics for board 50:
2025-04-24 11:10:55 [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 11:10:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:00 ago, cause: software
2025-04-24 11:10:55 [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 11:10:55 [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 11:10:55 [debug] Moves scheduled 13199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6880, max=17045
Sync err accum 104, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:55 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16547, writes 0 timeouts 0
2025-04-24 11:10:55 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37177
2025-04-24 11:10:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:55 [info] currentZPosition:0.110
2025-04-24 11:10:57 [debug] Stopped at height 0.108 mm
2025-04-24 11:10:57 [debug] Diagnostics for board 50:
2025-04-24 11:10:57 [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 11:10:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:02 ago, cause: software
2025-04-24 11:10:57 [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 11:10:57 [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 11:10:57 [debug] Moves scheduled 13203, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 94, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:10:57 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17708, writes 0 timeouts 0
2025-04-24 11:10:57 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37176
2025-04-24 11:10:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:57 [info] currentZPosition:0.108
2025-04-24 11:10:57 [debug] Stopped at height 0.108 mm
2025-04-24 11:10:58 [debug] Stopped at height 0.109 mm
2025-04-24 11:10:58 [debug] Diagnostics for board 50:
2025-04-24 11:10:58 [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 11:10:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:03 ago, cause: software
2025-04-24 11:10:58 [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 11:10:58 [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 11:10:58 [debug] Moves scheduled 13209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:10:58 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20198, writes 0 timeouts 0
2025-04-24 11:10:58 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37176
2025-04-24 11:10:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:10:58 [info] currentZPosition:0.109
2025-04-24 11:11:00 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:00 [debug] Diagnostics for board 50:
2025-04-24 11:11:00 [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 11:11:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:04 ago, cause: software
2025-04-24 11:11:00 [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 11:11:00 [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 11:11:00 [debug] Moves scheduled 13213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 62, peak jitter -4/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:00 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17016, writes 0 timeouts 0
2025-04-24 11:11:00 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37176
2025-04-24 11:11:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:00 [info] currentZPosition:0.110
2025-04-24 11:11:01 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:01 [debug] Diagnostics for board 50:
2025-04-24 11:11:01 [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 11:11:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:06 ago, cause: software
2025-04-24 11:11:01 [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 11:11:01 [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 11:11:01 [debug] Moves scheduled 13217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:01 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16361, writes 0 timeouts 0
2025-04-24 11:11:01 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37174
2025-04-24 11:11:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:01 [info] currentZPosition:0.111
2025-04-24 11:11:02 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:02 [debug] Diagnostics for board 50:
2025-04-24 11:11:02 [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 11:11:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:07 ago, cause: software
2025-04-24 11:11:02 [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 11:11:02 [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 11:11:02 [debug] Moves scheduled 13221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:02 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17337, writes 0 timeouts 0
2025-04-24 11:11:02 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37175
2025-04-24 11:11:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:02 [info] currentZPosition:0.110
2025-04-24 11:11:04 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:04 [debug] Diagnostics for board 50:
2025-04-24 11:11:04 [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 11:11:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:09 ago, cause: software
2025-04-24 11:11:04 [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 11:11:04 [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 11:11:04 [debug] Moves scheduled 13225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:04 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16747, writes 0 timeouts 0
2025-04-24 11:11:04 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36167/37173
2025-04-24 11:11:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:04 [info] currentZPosition:0.109
2025-04-24 11:11:05 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:05 [debug] Diagnostics for board 50:
2025-04-24 11:11:05 [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 11:11:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:10 ago, cause: software
2025-04-24 11:11:05 [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 11:11:05 [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 11:11:05 [debug] Moves scheduled 13229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
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 4294934368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:05 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16647, writes 0 timeouts 0
2025-04-24 11:11:05 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37173
2025-04-24 11:11:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:05 [info] currentZPosition:0.111
2025-04-24 11:11:05 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:07 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:07 [debug] Diagnostics for board 50:
2025-04-24 11:11:07 [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 11:11:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:12 ago, cause: software
2025-04-24 11:11:07 [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 11:11:07 [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 11:11:07 [debug] Moves scheduled 13235, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 99, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:07 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20879, writes 0 timeouts 0
2025-04-24 11:11:07 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36162/37178
2025-04-24 11:11:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:07 [info] currentZPosition:0.110
2025-04-24 11:11:08 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:08 [debug] Diagnostics for board 50:
2025-04-24 11:11:08 [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 11:11:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:13 ago, cause: software
2025-04-24 11:11:08 [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 11:11:08 [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 11:11:08 [debug] Moves scheduled 13239, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:08 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17027, writes 0 timeouts 0
2025-04-24 11:11:08 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37177
2025-04-24 11:11:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:08 [info] currentZPosition:0.110
2025-04-24 11:11:09 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:09 [debug] Diagnostics for board 50:
2025-04-24 11:11:09 [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 11:11:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:14 ago, cause: software
2025-04-24 11:11:09 [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 11:11:09 [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 11:11:09 [debug] Moves scheduled 13243, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 92, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:09 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16714, writes 0 timeouts 0
2025-04-24 11:11:09 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37176
2025-04-24 11:11:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:09 [info] currentZPosition:0.110
2025-04-24 11:11:11 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:11 [debug] Diagnostics for board 50:
2025-04-24 11:11:11 [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 11:11:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:16 ago, cause: software
2025-04-24 11:11:11 [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 11:11:11 [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 11:11:11 [debug] Moves scheduled 13247, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:11 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17514, writes 0 timeouts 0
2025-04-24 11:11:11 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37174
2025-04-24 11:11:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:11 [info] currentZPosition:0.109
2025-04-24 11:11:12 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:12 [debug] Diagnostics for board 50:
2025-04-24 11:11:12 [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 11:11:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:17 ago, cause: software
2025-04-24 11:11:12 [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 11:11:12 [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 11:11:12 [debug] Moves scheduled 13251, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 79, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:12 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16166, writes 0 timeouts 0
2025-04-24 11:11:12 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36152/37175
2025-04-24 11:11:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:12 [info] currentZPosition:0.110
2025-04-24 11:11:13 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:14 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:14 [debug] Diagnostics for board 50:
2025-04-24 11:11:14 [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 11:11:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:19 ago, cause: software
2025-04-24 11:11:14 [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 11:11:14 [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 11:11:14 [debug] Moves scheduled 13257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:14 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20907, writes 0 timeouts 0
2025-04-24 11:11:14 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37176
2025-04-24 11:11:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:14 [info] currentZPosition:0.111
2025-04-24 11:11:14 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:15 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:15 [debug] Diagnostics for board 50:
2025-04-24 11:11:15 [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 11:11:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:20 ago, cause: software
2025-04-24 11:11:15 [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 11:11:15 [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 11:11:15 [debug] Moves scheduled 13263, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6696, max=17045
Sync err accum 68, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:15 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20390, writes 0 timeouts 0
2025-04-24 11:11:15 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37178
2025-04-24 11:11:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:15 [info] currentZPosition:0.111
2025-04-24 11:11:17 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:17 [debug] Diagnostics for board 50:
2025-04-24 11:11:17 [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 11:11:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:22 ago, cause: software
2025-04-24 11:11:17 [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 11:11:17 [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 11:11:17 [debug] Moves scheduled 13267, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 75, peak jitter 1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:17 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17317, writes 0 timeouts 0
2025-04-24 11:11:17 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37175
2025-04-24 11:11:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:17 [info] currentZPosition:0.111
2025-04-24 11:11:18 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:18 [debug] Diagnostics for board 50:
2025-04-24 11:11:18 [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 11:11:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:23 ago, cause: software
2025-04-24 11:11:18 [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 11:11:18 [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 11:11:18 [debug] Moves scheduled 13271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 79, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:18 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16637, writes 0 timeouts 0
2025-04-24 11:11:18 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37176
2025-04-24 11:11:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:18 [info] currentZPosition:0.111
2025-04-24 11:11:20 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:20 [debug] Diagnostics for board 50:
2025-04-24 11:11:20 [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 11:11:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:24 ago, cause: software
2025-04-24 11:11:20 [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 11:11:20 [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 11:11:20 [debug] Moves scheduled 13275, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 80, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:20 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17701, writes 0 timeouts 0
2025-04-24 11:11:20 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37175
2025-04-24 11:11:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:20 [info] currentZPosition:0.109
2025-04-24 11:11:20 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:21 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:21 [debug] Diagnostics for board 50:
2025-04-24 11:11:21 [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 11:11:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:26 ago, cause: software
2025-04-24 11:11:21 [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 11:11:21 [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 11:11:21 [debug] Moves scheduled 13281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:21 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 19951, writes 0 timeouts 0
2025-04-24 11:11:21 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36284/37174
2025-04-24 11:11:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:21 [info] currentZPosition:0.111
2025-04-24 11:11:23 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:23 [debug] Diagnostics for board 50:
2025-04-24 11:11:23 [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 11:11:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:27 ago, cause: software
2025-04-24 11:11:23 [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 11:11:23 [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 11:11:23 [debug] Moves scheduled 13285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=18292
Sync err accum 75, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:23 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16945, writes 0 timeouts 0
2025-04-24 11:11:23 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37175
2025-04-24 11:11:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:23 [info] currentZPosition:0.111
2025-04-24 11:11:24 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:24 [debug] Diagnostics for board 50:
2025-04-24 11:11:24 [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 11:11:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:29 ago, cause: software
2025-04-24 11:11:24 [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 11:11:24 [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 11:11:24 [debug] Moves scheduled 13289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:24 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17392, writes 0 timeouts 0
2025-04-24 11:11:24 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37175
2025-04-24 11:11:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:24 [info] currentZPosition:0.109
2025-04-24 11:11:24 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:26 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:26 [debug] Diagnostics for board 50:
2025-04-24 11:11:26 [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 11:11:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:30 ago, cause: software
2025-04-24 11:11:26 [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 11:11:26 [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 11:11:26 [debug] Moves scheduled 13295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:26 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21247, writes 0 timeouts 0
2025-04-24 11:11:26 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37177
2025-04-24 11:11:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:26 [info] currentZPosition:0.109
2025-04-24 11:11:27 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:27 [debug] Diagnostics for board 50:
2025-04-24 11:11:27 [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 11:11:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:32 ago, cause: software
2025-04-24 11:11:27 [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 11:11:27 [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 11:11:27 [debug] Moves scheduled 13299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 76, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:27 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16182, writes 0 timeouts 0
2025-04-24 11:11:27 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37172
2025-04-24 11:11:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:27 [info] currentZPosition:0.110
2025-04-24 11:11:28 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:28 [debug] Diagnostics for board 50:
2025-04-24 11:11:28 [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 11:11:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:13:33 ago, cause: software
2025-04-24 11:11:28 [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 11:11:28 [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 11:11:28 [debug] Moves scheduled 13303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:28 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16796, writes 0 timeouts 0
2025-04-24 11:11:28 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 11:11:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:28 [info] currentZPosition:0.111
2025-04-24 11:11:29 [debug] Stopped at height 0.113 mm
2025-04-24 11:11:29 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:30 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:30 [debug] Diagnostics for board 50:
2025-04-24 11:11:30 [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 11:11:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:35 ago, cause: software
2025-04-24 11:11:30 [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 11:11:30 [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 11:11:30 [debug] Moves scheduled 13311, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6147, max=17045
Sync err accum 103, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:30 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 25035, writes 0 timeouts 0
2025-04-24 11:11:30 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 286, adv 36375/37176
2025-04-24 11:11:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:30 [info] currentZPosition:0.110
2025-04-24 11:11:32 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:32 [debug] Diagnostics for board 50:
2025-04-24 11:11:32 [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 11:11:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:36 ago, cause: software
2025-04-24 11:11:32 [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 11:11:32 [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 11:11:32 [debug] Moves scheduled 13315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=5952, max=17857
Sync err accum 108, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:32 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16867, writes 0 timeouts 0
2025-04-24 11:11:32 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37175
2025-04-24 11:11:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:32 [info] currentZPosition:0.111
2025-04-24 11:11:33 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:33 [debug] Diagnostics for board 50:
2025-04-24 11:11:33 [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 11:11:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:38 ago, cause: software
2025-04-24 11:11:33 [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 11:11:33 [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 11:11:33 [debug] Moves scheduled 13319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 109, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:33 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16485, writes 0 timeouts 0
2025-04-24 11:11:33 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37175
2025-04-24 11:11:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:33 [info] currentZPosition:0.111
2025-04-24 11:11:34 [debug] Stopped at height 0.112 mm
2025-04-24 11:11:34 [debug] Diagnostics for board 50:
2025-04-24 11:11:34 [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 11:11:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:39 ago, cause: software
2025-04-24 11:11:34 [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 11:11:34 [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 11:11:34 [debug] Moves scheduled 13323, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 110, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:34 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16922, writes 0 timeouts 0
2025-04-24 11:11:34 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 11:11:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:34 [info] currentZPosition:0.112
2025-04-24 11:11:36 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:36 [debug] Diagnostics for board 50:
2025-04-24 11:11:36 [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 11:11:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:40 ago, cause: software
2025-04-24 11:11:36 [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 11:11:36 [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 11:11:36 [debug] Moves scheduled 13327, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:36 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17052, writes 0 timeouts 0
2025-04-24 11:11:36 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36375/37178
2025-04-24 11:11:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:36 [info] currentZPosition:0.111
2025-04-24 11:11:36 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:37 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:37 [debug] Diagnostics for board 50:
2025-04-24 11:11:37 [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 11:11:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:42 ago, cause: software
2025-04-24 11:11:37 [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 11:11:37 [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 11:11:37 [debug] Moves scheduled 13333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6302, max=17045
Sync err accum 103, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:11:37 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 21328, writes 0 timeouts 0
2025-04-24 11:11:37 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36089/37176
2025-04-24 11:11:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:37 [info] currentZPosition:0.110
2025-04-24 11:11:39 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:39 [debug] Diagnostics for board 50:
2025-04-24 11:11:39 [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 11:11:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:43 ago, cause: software
2025-04-24 11:11:39 [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 11:11:39 [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 11:11:39 [debug] Moves scheduled 13337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 95, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:11:39 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16306, writes 0 timeouts 0
2025-04-24 11:11:39 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36394/37175
2025-04-24 11:11:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:39 [info] currentZPosition:0.111
2025-04-24 11:11:40 [debug] Stopped at height 0.112 mm
2025-04-24 11:11:40 [debug] Diagnostics for board 50:
2025-04-24 11:11:40 [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 11:11:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:45 ago, cause: software
2025-04-24 11:11:40 [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 11:11:40 [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 11:11:40 [debug] Moves scheduled 13341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=942, max=17045
Sync err accum 89, peak jitter -1/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:40 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17019, writes 11 timeouts 1
2025-04-24 11:11:40 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37173
2025-04-24 11:11:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:40 [info] currentZPosition:0.112
2025-04-24 11:11:41 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:41 [debug] Diagnostics for board 50:
2025-04-24 11:11:41 [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 11:11:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:46 ago, cause: software
2025-04-24 11:11:41 [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 11:11:41 [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 11:11:41 [debug] Moves scheduled 13345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6250, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:41 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17224, writes 0 timeouts 0
2025-04-24 11:11:41 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37177
2025-04-24 11:11:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:41 [info] currentZPosition:0.110
2025-04-24 11:11:42 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:43 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:43 [debug] Diagnostics for board 50:
2025-04-24 11:11:43 [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 11:11:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:48 ago, cause: software
2025-04-24 11:11:43 [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 11:11:43 [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 11:11:43 [debug] Moves scheduled 13351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 60, peak jitter -3/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931145 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:43 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20656, writes 0 timeouts 0
2025-04-24 11:11:43 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36092/37178
2025-04-24 11:11:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:43 [info] currentZPosition:0.111
2025-04-24 11:11:43 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:45 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:45 [debug] Diagnostics for board 50:
2025-04-24 11:11:45 [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 11:11:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:50 ago, cause: software
2025-04-24 11:11:45 [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 11:11:45 [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 11:11:45 [debug] Moves scheduled 13357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5813, max=17045
Sync err accum 76, peak jitter 2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:45 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20764, writes 0 timeouts 0
2025-04-24 11:11:45 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36378/37174
2025-04-24 11:11:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:45 [info] currentZPosition:0.111
2025-04-24 11:11:46 [debug] Stopped at height 0.112 mm
2025-04-24 11:11:46 [debug] Diagnostics for board 50:
2025-04-24 11:11:46 [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 11:11:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:51 ago, cause: software
2025-04-24 11:11:46 [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 11:11:46 [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 11:11:46 [debug] Moves scheduled 13361, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=7075, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:46 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16852, writes 0 timeouts 0
2025-04-24 11:11:46 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37168
2025-04-24 11:11:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:46 [info] currentZPosition:0.112
2025-04-24 11:11:47 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:47 [debug] Diagnostics for board 50:
2025-04-24 11:11:47 [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 11:11:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:52 ago, cause: software
2025-04-24 11:11:47 [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 11:11:47 [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 11:11:47 [debug] Moves scheduled 13365, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 94, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:47 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16883, writes 0 timeouts 0
2025-04-24 11:11:47 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36403/37175
2025-04-24 11:11:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:47 [info] currentZPosition:0.111
2025-04-24 11:11:49 [debug] Stopped at height 0.112 mm
2025-04-24 11:11:49 [debug] Diagnostics for board 50:
2025-04-24 11:11:49 [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 11:11:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:54 ago, cause: software
2025-04-24 11:11:49 [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 11:11:49 [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 11:11:49 [debug] Moves scheduled 13369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 99, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:11:49 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16985, writes 0 timeouts 0
2025-04-24 11:11:49 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36106/37175
2025-04-24 11:11:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:49 [info] currentZPosition:0.112
2025-04-24 11:11:50 [debug] Stopped at height 0.112 mm
2025-04-24 11:11:50 [debug] Diagnostics for board 50:
2025-04-24 11:11:50 [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 11:11:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:55 ago, cause: software
2025-04-24 11:11:50 [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 11:11:50 [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 11:11:50 [debug] Moves scheduled 13373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17857
Sync err accum 101, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:50 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16444, writes 0 timeouts 0
2025-04-24 11:11:50 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37176
2025-04-24 11:11:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:50 [info] currentZPosition:0.112
2025-04-24 11:11:51 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:51 [debug] Diagnostics for board 50:
2025-04-24 11:11:51 [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 11:11:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:56 ago, cause: software
2025-04-24 11:11:51 [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 11:11:51 [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 11:11:51 [debug] Moves scheduled 13377, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:51 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17407, writes 0 timeouts 0
2025-04-24 11:11:51 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:11:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:52 [info] currentZPosition:0.111
2025-04-24 11:11:53 [debug] Stopped at height 0.112 mm
2025-04-24 11:11:53 [debug] Diagnostics for board 50:
2025-04-24 11:11:53 [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 11:11:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:58 ago, cause: software
2025-04-24 11:11:53 [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 11:11:53 [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 11:11:53 [debug] Moves scheduled 13381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:53 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16553, writes 0 timeouts 0
2025-04-24 11:11:53 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36394/37175
2025-04-24 11:11:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:53 [info] currentZPosition:0.112
2025-04-24 11:11:54 [debug] Stopped at height 0.112 mm
2025-04-24 11:11:54 [debug] Diagnostics for board 50:
2025-04-24 11:11:54 [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 11:11:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:13:59 ago, cause: software
2025-04-24 11:11:54 [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 11:11:54 [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 11:11:54 [debug] Moves scheduled 13385, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=7009, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:54 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17035, writes 0 timeouts 0
2025-04-24 11:11:54 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:11:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:54 [info] currentZPosition:0.112
2025-04-24 11:11:56 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:56 [debug] Diagnostics for board 50:
2025-04-24 11:11:56 [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 11:11:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:00 ago, cause: software
2025-04-24 11:11:56 [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 11:11:56 [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 11:11:56 [debug] Moves scheduled 13389, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:11:56 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17445, writes 0 timeouts 0
2025-04-24 11:11:56 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37176
2025-04-24 11:11:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:56 [info] currentZPosition:0.109
2025-04-24 11:11:56 [debug] Stopped at height 0.109 mm
2025-04-24 11:11:57 [debug] Stopped at height 0.111 mm
2025-04-24 11:11:57 [debug] Diagnostics for board 50:
2025-04-24 11:11:57 [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 11:11:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:02 ago, cause: software
2025-04-24 11:11:57 [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 11:11:57 [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 11:11:57 [debug] Moves scheduled 13395, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 75, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:11:57 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20539, writes 0 timeouts 0
2025-04-24 11:11:57 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37177
2025-04-24 11:11:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:57 [info] currentZPosition:0.111
2025-04-24 11:11:58 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:59 [debug] Stopped at height 0.110 mm
2025-04-24 11:11:59 [debug] Diagnostics for board 50:
2025-04-24 11:11:59 [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 11:11:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:04 ago, cause: software
2025-04-24 11:11:59 [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 11:11:59 [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 11:11:59 [debug] Moves scheduled 13401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294932115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:11:59 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 20560, writes 0 timeouts 0
2025-04-24 11:11:59 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37177
2025-04-24 11:11:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:11:59 [info] currentZPosition:0.110
2025-04-24 11:12:00 [debug] Stopped at height 0.111 mm
2025-04-24 11:12:00 [debug] Diagnostics for board 50:
2025-04-24 11:12:00 [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 11:12:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:05 ago, cause: software
2025-04-24 11:12:00 [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 11:12:00 [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 11:12:00 [debug] Moves scheduled 13405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter 0/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:12:00 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17035, writes 0 timeouts 0
2025-04-24 11:12:00 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36095/37175
2025-04-24 11:12:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:00 [info] currentZPosition:0.111
2025-04-24 11:12:01 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:01 [debug] Diagnostics for board 50:
2025-04-24 11:12:01 [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 11:12:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:06 ago, cause: software
2025-04-24 11:12:01 [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 11:12:01 [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 11:12:01 [debug] Moves scheduled 13409, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 86, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294936788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 11:12:01 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 15921, writes 0 timeouts 0
2025-04-24 11:12:01 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37172
2025-04-24 11:12:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:02 [info] currentZPosition:0.113
2025-04-24 11:12:02 [debug] Stopped at height 0.115 mm
2025-04-24 11:12:02 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:03 [debug] Stopped at height 0.110 mm
2025-04-24 11:12:04 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:04 [debug] Diagnostics for board 50:
2025-04-24 11:12:04 [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 11:12:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:09 ago, cause: software
2025-04-24 11:12:04 [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 11:12:04 [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 11:12:04 [debug] Moves scheduled 13418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294928465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:04 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 28869, writes 0 timeouts 0
2025-04-24 11:12:04 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 289, adv 36108/37174
2025-04-24 11:12:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:04 [info] currentZPosition:0.112
2025-04-24 11:12:04 [debug] Stopped at height 0.111 mm
2025-04-24 11:12:05 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:05 [debug] Diagnostics for board 50:
2025-04-24 11:12:05 [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 11:12:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:10 ago, cause: software
2025-04-24 11:12:05 [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 11:12:05 [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 11:12:05 [debug] Moves scheduled 13424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:05 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20523, writes 0 timeouts 0
2025-04-24 11:12:05 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37175
2025-04-24 11:12:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:06 [info] currentZPosition:0.112
2025-04-24 11:12:07 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:07 [debug] Diagnostics for board 50:
2025-04-24 11:12:07 [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 11:12:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:12 ago, cause: software
2025-04-24 11:12:07 [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 11:12:07 [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 11:12:07 [debug] Moves scheduled 13428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6147, max=17045
Sync err accum 108, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:07 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17371, writes 0 timeouts 0
2025-04-24 11:12:07 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37167
2025-04-24 11:12:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:07 [info] currentZPosition:0.112
2025-04-24 11:12:08 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:08 [debug] Diagnostics for board 50:
2025-04-24 11:12:08 [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 11:12:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:13 ago, cause: software
2025-04-24 11:12:08 [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 11:12:08 [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 11:12:08 [debug] Moves scheduled 13432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 110, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:08 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16407, writes 0 timeouts 0
2025-04-24 11:12:08 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37174
2025-04-24 11:12:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:08 [info] currentZPosition:0.112
2025-04-24 11:12:10 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:10 [debug] Diagnostics for board 50:
2025-04-24 11:12:10 [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 11:12:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:14 ago, cause: software
2025-04-24 11:12:10 [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 11:12:10 [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 11:12:10 [debug] Moves scheduled 13436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=6756, max=17045
Sync err accum 109, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:10 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17201, writes 0 timeouts 0
2025-04-24 11:12:10 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37177
2025-04-24 11:12:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:10 [info] currentZPosition:0.112
2025-04-24 11:12:11 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:11 [debug] Diagnostics for board 50:
2025-04-24 11:12:11 [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 11:12:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:16 ago, cause: software
2025-04-24 11:12:11 [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 11:12:11 [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 11:12:11 [debug] Moves scheduled 13440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 103, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:11 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16793, writes 0 timeouts 0
2025-04-24 11:12:11 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37178
2025-04-24 11:12:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:11 [info] currentZPosition:0.112
2025-04-24 11:12:12 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:12 [debug] Diagnostics for board 50:
2025-04-24 11:12:12 [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 11:12:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:17 ago, cause: software
2025-04-24 11:12:12 [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 11:12:12 [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 11:12:12 [debug] Moves scheduled 13444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:12 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17091, writes 0 timeouts 0
2025-04-24 11:12:12 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 11:12:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:12 [info] currentZPosition:0.112
2025-04-24 11:12:14 [debug] Stopped at height 0.114 mm
2025-04-24 11:12:14 [debug] Diagnostics for board 50:
2025-04-24 11:12:14 [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 11:12:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:18 ago, cause: software
2025-04-24 11:12:14 [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 11:12:14 [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 11:12:14 [debug] Moves scheduled 13448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:14 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16119, writes 0 timeouts 0
2025-04-24 11:12:14 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37178
2025-04-24 11:12:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:14 [info] currentZPosition:0.114
2025-04-24 11:12:14 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:15 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:15 [debug] Diagnostics for board 50:
2025-04-24 11:12:15 [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 11:12:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:20 ago, cause: software
2025-04-24 11:12:15 [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 11:12:15 [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 11:12:15 [debug] Moves scheduled 13454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 73, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:15 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 21481, writes 0 timeouts 0
2025-04-24 11:12:15 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37179
2025-04-24 11:12:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:15 [info] currentZPosition:0.112
2025-04-24 11:12:17 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:17 [debug] Diagnostics for board 50:
2025-04-24 11:12:17 [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 11:12:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:21 ago, cause: software
2025-04-24 11:12:17 [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 11:12:17 [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 11:12:17 [debug] Moves scheduled 13458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 63, peak jitter -4/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:17 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16307, writes 0 timeouts 0
2025-04-24 11:12:17 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36283/37178
2025-04-24 11:12:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:17 [info] currentZPosition:0.113
2025-04-24 11:12:18 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:18 [debug] Diagnostics for board 50:
2025-04-24 11:12:18 [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 11:12:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:23 ago, cause: software
2025-04-24 11:12:18 [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 11:12:18 [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 11:12:18 [debug] Moves scheduled 13462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 76, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:12:18 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17330, writes 0 timeouts 0
2025-04-24 11:12:18 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37172
2025-04-24 11:12:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:18 [info] currentZPosition:0.112
2025-04-24 11:12:19 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:19 [debug] Diagnostics for board 50:
2025-04-24 11:12:19 [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 11:12:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:24 ago, cause: software
2025-04-24 11:12:19 [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 11:12:19 [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 11:12:19 [debug] Moves scheduled 13466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6637, max=17045
Sync err accum 88, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:19 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16529, writes 0 timeouts 0
2025-04-24 11:12:19 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36165/37173
2025-04-24 11:12:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:19 [info] currentZPosition:0.113
2025-04-24 11:12:21 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:21 [debug] Diagnostics for board 50:
2025-04-24 11:12:21 [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 11:12:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:25 ago, cause: software
2025-04-24 11:12:21 [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 11:12:21 [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 11:12:21 [debug] Moves scheduled 13470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 96, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:12:21 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17402, writes 0 timeouts 0
2025-04-24 11:12:21 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36094/37176
2025-04-24 11:12:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:21 [info] currentZPosition:0.112
2025-04-24 11:12:22 [debug] Stopped at height 0.111 mm
2025-04-24 11:12:22 [debug] Diagnostics for board 50:
2025-04-24 11:12:22 [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 11:12:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:27 ago, cause: software
2025-04-24 11:12:22 [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 11:12:22 [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 11:12:22 [debug] Moves scheduled 13474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 102, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:22 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16885, writes 0 timeouts 0
2025-04-24 11:12:22 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36164/37175
2025-04-24 11:12:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:22 [info] currentZPosition:0.111
2025-04-24 11:12:23 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:23 [debug] Diagnostics for board 50:
2025-04-24 11:12:23 [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 11:12:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:28 ago, cause: software
2025-04-24 11:12:23 [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 11:12:23 [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 11:12:23 [debug] Moves scheduled 13478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 108, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:23 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16712, writes 0 timeouts 0
2025-04-24 11:12:23 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37177
2025-04-24 11:12:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:23 [info] currentZPosition:0.112
2025-04-24 11:12:24 [debug] Stopped at height 0.111 mm
2025-04-24 11:12:25 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:25 [debug] Diagnostics for board 50:
2025-04-24 11:12:25 [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 11:12:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:30 ago, cause: software
2025-04-24 11:12:25 [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 11:12:25 [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 11:12:25 [debug] Moves scheduled 13484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 107, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:12:25 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20160, writes 0 timeouts 0
2025-04-24 11:12:25 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37174
2025-04-24 11:12:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:25 [info] currentZPosition:0.113
2025-04-24 11:12:25 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:27 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:27 [debug] Diagnostics for board 50:
2025-04-24 11:12:27 [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 11:12:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:31 ago, cause: software
2025-04-24 11:12:27 [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 11:12:27 [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 11:12:27 [debug] Moves scheduled 13490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:12:27 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 21248, writes 0 timeouts 0
2025-04-24 11:12:27 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37172
2025-04-24 11:12:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:27 [info] currentZPosition:0.113
2025-04-24 11:12:28 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:28 [debug] Diagnostics for board 50:
2025-04-24 11:12:28 [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 11:12:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:33 ago, cause: software
2025-04-24 11:12:28 [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 11:12:28 [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 11:12:28 [debug] Moves scheduled 13494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=18292
Sync err accum 97, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:28 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16772, writes 0 timeouts 0
2025-04-24 11:12:28 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37176
2025-04-24 11:12:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:28 [info] currentZPosition:0.112
2025-04-24 11:12:29 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:29 [debug] Diagnostics for board 50:
2025-04-24 11:12:29 [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 11:12:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:34 ago, cause: software
2025-04-24 11:12:29 [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 11:12:29 [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 11:12:29 [debug] Moves scheduled 13498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 89, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:29 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17135, writes 0 timeouts 0
2025-04-24 11:12:29 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37175
2025-04-24 11:12:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:29 [info] currentZPosition:0.112
2025-04-24 11:12:31 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:31 [debug] Diagnostics for board 50:
2025-04-24 11:12:31 [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 11:12:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:35 ago, cause: software
2025-04-24 11:12:31 [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 11:12:31 [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 11:12:31 [debug] Moves scheduled 13502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 78, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:31 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16286, writes 0 timeouts 0
2025-04-24 11:12:31 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37175
2025-04-24 11:12:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:31 [info] currentZPosition:0.113
2025-04-24 11:12:32 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:32 [debug] Diagnostics for board 50:
2025-04-24 11:12:32 [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 11:12:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:37 ago, cause: software
2025-04-24 11:12:32 [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 11:12:32 [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 11:12:32 [debug] Moves scheduled 13506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:32 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17379, writes 0 timeouts 0
2025-04-24 11:12:32 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37177
2025-04-24 11:12:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:32 [info] currentZPosition:0.113
2025-04-24 11:12:33 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:33 [debug] Diagnostics for board 50:
2025-04-24 11:12:33 [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 11:12:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:14:38 ago, cause: software
2025-04-24 11:12:33 [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 11:12:33 [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 11:12:33 [debug] Moves scheduled 13510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:33 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16404, writes 0 timeouts 0
2025-04-24 11:12:33 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37178
2025-04-24 11:12:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:33 [info] currentZPosition:0.113
2025-04-24 11:12:35 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:35 [debug] Diagnostics for board 50:
2025-04-24 11:12:35 [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 11:12:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:40 ago, cause: software
2025-04-24 11:12:35 [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 11:12:35 [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 11:12:35 [debug] Moves scheduled 13514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=18292
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 4294932857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:12:35 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17362, writes 0 timeouts 0
2025-04-24 11:12:35 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37175
2025-04-24 11:12:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:35 [info] currentZPosition:0.113
2025-04-24 11:12:36 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:36 [debug] Diagnostics for board 50:
2025-04-24 11:12:36 [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 11:12:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:41 ago, cause: software
2025-04-24 11:12:36 [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 11:12:36 [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 11:12:36 [debug] Moves scheduled 13518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6944, max=17045
Sync err accum 88, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:12:36 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16813, writes 0 timeouts 0
2025-04-24 11:12:36 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36160/37172
2025-04-24 11:12:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:36 [info] currentZPosition:0.112
2025-04-24 11:12:37 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:37 [debug] Diagnostics for board 50:
2025-04-24 11:12:37 [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 11:12:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:42 ago, cause: software
2025-04-24 11:12:37 [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 11:12:37 [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 11:12:37 [debug] Moves scheduled 13522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 97, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:12:37 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17324, writes 0 timeouts 0
2025-04-24 11:12:37 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37175
2025-04-24 11:12:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:38 [info] currentZPosition:0.112
2025-04-24 11:12:39 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:39 [debug] Diagnostics for board 50:
2025-04-24 11:12:39 [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 11:12:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:44 ago, cause: software
2025-04-24 11:12:39 [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 11:12:39 [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 11:12:39 [debug] Moves scheduled 13526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 104, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:39 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16263, writes 0 timeouts 0
2025-04-24 11:12:39 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37174
2025-04-24 11:12:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:39 [info] currentZPosition:0.113
2025-04-24 11:12:40 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:40 [debug] Diagnostics for board 50:
2025-04-24 11:12:40 [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 11:12:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:45 ago, cause: software
2025-04-24 11:12:40 [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 11:12:40 [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 11:12:40 [debug] Moves scheduled 13530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 107, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:40 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17312, writes 0 timeouts 0
2025-04-24 11:12:40 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37175
2025-04-24 11:12:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:40 [info] currentZPosition:0.112
2025-04-24 11:12:41 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:41 [debug] Diagnostics for board 50:
2025-04-24 11:12:41 [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 11:12:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:46 ago, cause: software
2025-04-24 11:12:41 [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 11:12:41 [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 11:12:41 [debug] Moves scheduled 13534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:41 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16463, writes 0 timeouts 0
2025-04-24 11:12:41 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37175
2025-04-24 11:12:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:42 [info] currentZPosition:0.113
2025-04-24 11:12:43 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:43 [debug] Diagnostics for board 50:
2025-04-24 11:12:43 [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 11:12:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:48 ago, cause: software
2025-04-24 11:12:43 [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 11:12:43 [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 11:12:43 [debug] Moves scheduled 13538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 109, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:43 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17525, writes 0 timeouts 0
2025-04-24 11:12:43 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36094/37177
2025-04-24 11:12:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:43 [info] currentZPosition:0.112
2025-04-24 11:12:44 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:44 [debug] Diagnostics for board 50:
2025-04-24 11:12:44 [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 11:12:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:49 ago, cause: software
2025-04-24 11:12:44 [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 11:12:44 [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 11:12:44 [debug] Moves scheduled 13542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 109, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932651 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:12:44 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16170, writes 0 timeouts 0
2025-04-24 11:12:44 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36149/37178
2025-04-24 11:12:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:44 [info] currentZPosition:0.113
2025-04-24 11:12:45 [debug] Stopped at height 0.114 mm
2025-04-24 11:12:46 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:46 [debug] Diagnostics for board 50:
2025-04-24 11:12:46 [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 11:12:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:51 ago, cause: software
2025-04-24 11:12:46 [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 11:12:46 [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 11:12:46 [debug] Moves scheduled 13548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:12:46 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21011, writes 0 timeouts 0
2025-04-24 11:12:46 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37177
2025-04-24 11:12:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:46 [info] currentZPosition:0.113
2025-04-24 11:12:47 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:47 [debug] Diagnostics for board 50:
2025-04-24 11:12:47 [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 11:12:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:52 ago, cause: software
2025-04-24 11:12:47 [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 11:12:47 [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 11:12:47 [debug] Moves scheduled 13552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 96, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:47 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16496, writes 0 timeouts 0
2025-04-24 11:12:47 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37177
2025-04-24 11:12:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:47 [info] currentZPosition:0.113
2025-04-24 11:12:49 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:49 [debug] Diagnostics for board 50:
2025-04-24 11:12:49 [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 11:12:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:53 ago, cause: software
2025-04-24 11:12:49 [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 11:12:49 [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 11:12:49 [debug] Moves scheduled 13556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 85, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:12:49 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17498, writes 0 timeouts 0
2025-04-24 11:12:49 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36098/37177
2025-04-24 11:12:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:49 [info] currentZPosition:0.112
2025-04-24 11:12:50 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:50 [debug] Diagnostics for board 50:
2025-04-24 11:12:50 [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 11:12:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:55 ago, cause: software
2025-04-24 11:12:50 [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 11:12:50 [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 11:12:50 [debug] Moves scheduled 13560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:50 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16576, writes 0 timeouts 0
2025-04-24 11:12:50 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36169/37178
2025-04-24 11:12:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:50 [info] currentZPosition:0.112
2025-04-24 11:12:51 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:51 [debug] Diagnostics for board 50:
2025-04-24 11:12:51 [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 11:12:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:56 ago, cause: software
2025-04-24 11:12:51 [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 11:12:51 [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 11:12:51 [debug] Moves scheduled 13564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 60, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:12:51 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16783, writes 0 timeouts 0
2025-04-24 11:12:51 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37178
2025-04-24 11:12:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:51 [info] currentZPosition:0.113
2025-04-24 11:12:53 [debug] Stopped at height 0.112 mm
2025-04-24 11:12:53 [debug] Diagnostics for board 50:
2025-04-24 11:12:53 [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 11:12:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:57 ago, cause: software
2025-04-24 11:12:53 [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 11:12:53 [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 11:12:53 [debug] Moves scheduled 13568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17857
Sync err accum 72, peak jitter -1/5, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:53 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17180, writes 0 timeouts 0
2025-04-24 11:12:53 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37176
2025-04-24 11:12:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:53 [info] currentZPosition:0.112
2025-04-24 11:12:53 [debug] Stopped at height 0.111 mm
2025-04-24 11:12:54 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:54 [debug] Diagnostics for board 50:
2025-04-24 11:12:54 [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 11:12:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:14:59 ago, cause: software
2025-04-24 11:12:54 [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 11:12:54 [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 11:12:54 [debug] Moves scheduled 13574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=642, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:12:54 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20775, writes 11 timeouts 1
2025-04-24 11:12:54 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 11:12:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:54 [info] currentZPosition:0.113
2025-04-24 11:12:55 [debug] Stopped at height 0.114 mm
2025-04-24 11:12:56 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:56 [debug] Diagnostics for board 50:
2025-04-24 11:12:56 [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 11:12:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:01 ago, cause: software
2025-04-24 11:12:56 [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 11:12:56 [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 11:12:56 [debug] Moves scheduled 13580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:56 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20276, writes 0 timeouts 0
2025-04-24 11:12:56 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36160/37173
2025-04-24 11:12:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:56 [info] currentZPosition:0.113
2025-04-24 11:12:57 [debug] Stopped at height 0.114 mm
2025-04-24 11:12:57 [debug] Diagnostics for board 50:
2025-04-24 11:12:57 [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 11:12:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:02 ago, cause: software
2025-04-24 11:12:57 [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 11:12:57 [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 11:12:57 [debug] Moves scheduled 13584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17045
Sync err accum 99, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:57 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16849, writes 0 timeouts 0
2025-04-24 11:12:57 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37173
2025-04-24 11:12:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:57 [info] currentZPosition:0.114
2025-04-24 11:12:59 [debug] Stopped at height 0.113 mm
2025-04-24 11:12:59 [debug] Diagnostics for board 50:
2025-04-24 11:12:59 [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 11:12:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:03 ago, cause: software
2025-04-24 11:12:59 [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 11:12:59 [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 11:12:59 [debug] Moves scheduled 13588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 102, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932378 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:12:59 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16616, writes 0 timeouts 0
2025-04-24 11:12:59 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37174
2025-04-24 11:12:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:12:59 [info] currentZPosition:0.113
2025-04-24 11:13:00 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:00 [debug] Diagnostics for board 50:
2025-04-24 11:13:00 [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 11:13:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:05 ago, cause: software
2025-04-24 11:13:00 [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 11:13:00 [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 11:13:00 [debug] Moves scheduled 13592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6048, max=17857
Sync err accum 106, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:00 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17528, writes 0 timeouts 0
2025-04-24 11:13:00 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36098/37173
2025-04-24 11:13:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:00 [info] currentZPosition:0.112
2025-04-24 11:13:01 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:01 [debug] Diagnostics for board 50:
2025-04-24 11:13:01 [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 11:13:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:06 ago, cause: software
2025-04-24 11:13:01 [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 11:13:01 [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 11:13:01 [debug] Moves scheduled 13596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6250, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:01 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16509, writes 0 timeouts 0
2025-04-24 11:13:01 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37170
2025-04-24 11:13:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:01 [info] currentZPosition:0.113
2025-04-24 11:13:03 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:03 [debug] Diagnostics for board 50:
2025-04-24 11:13:03 [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 11:13:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:08 ago, cause: software
2025-04-24 11:13:03 [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 11:13:03 [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 11:13:03 [debug] Moves scheduled 13600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:03 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17474, writes 0 timeouts 0
2025-04-24 11:13:03 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37174
2025-04-24 11:13:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:03 [info] currentZPosition:0.112
2025-04-24 11:13:04 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:04 [debug] Diagnostics for board 50:
2025-04-24 11:13:04 [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 11:13:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:09 ago, cause: software
2025-04-24 11:13:04 [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 11:13:04 [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 11:13:04 [debug] Moves scheduled 13604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 92, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:04 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16264, writes 0 timeouts 0
2025-04-24 11:13:04 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36169/37177
2025-04-24 11:13:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:04 [info] currentZPosition:0.113
2025-04-24 11:13:05 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:05 [debug] Diagnostics for board 50:
2025-04-24 11:13:05 [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 11:13:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:10 ago, cause: software
2025-04-24 11:13:05 [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 11:13:05 [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 11:13:05 [debug] Moves scheduled 13608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:13:05 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17191, writes 0 timeouts 0
2025-04-24 11:13:05 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36110/37176
2025-04-24 11:13:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:05 [info] currentZPosition:0.113
2025-04-24 11:13:07 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:07 [debug] Diagnostics for board 50:
2025-04-24 11:13:07 [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 11:13:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:12 ago, cause: software
2025-04-24 11:13:07 [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 11:13:07 [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 11:13:07 [debug] Moves scheduled 13612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6696, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:07 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16664, writes 0 timeouts 0
2025-04-24 11:13:07 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36148/37174
2025-04-24 11:13:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:07 [info] currentZPosition:0.113
2025-04-24 11:13:08 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:08 [debug] Diagnostics for board 50:
2025-04-24 11:13:08 [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 11:13:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:13 ago, cause: software
2025-04-24 11:13:08 [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 11:13:08 [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 11:13:08 [debug] Moves scheduled 13616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 59, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:08 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17045, writes 0 timeouts 0
2025-04-24 11:13:08 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37176
2025-04-24 11:13:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:08 [info] currentZPosition:0.113
2025-04-24 11:13:09 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:09 [debug] Diagnostics for board 50:
2025-04-24 11:13:09 [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 11:13:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:14 ago, cause: software
2025-04-24 11:13:09 [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 11:13:09 [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 11:13:09 [debug] Moves scheduled 13620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 70, peak jitter 0/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:09 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16913, writes 0 timeouts 0
2025-04-24 11:13:09 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36281/37175
2025-04-24 11:13:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:10 [info] currentZPosition:0.112
2025-04-24 11:13:11 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:11 [debug] Diagnostics for board 50:
2025-04-24 11:13:11 [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 11:13:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:16 ago, cause: software
2025-04-24 11:13:11 [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 11:13:11 [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 11:13:11 [debug] Moves scheduled 13624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 80, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:11 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16870, writes 0 timeouts 0
2025-04-24 11:13:11 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37175
2025-04-24 11:13:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:11 [info] currentZPosition:0.113
2025-04-24 11:13:12 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:12 [debug] Diagnostics for board 50:
2025-04-24 11:13:12 [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 11:13:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:17 ago, cause: software
2025-04-24 11:13:12 [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 11:13:12 [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 11:13:12 [debug] Moves scheduled 13628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
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 4294935593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:13:12 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16448, writes 0 timeouts 0
2025-04-24 11:13:12 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37175
2025-04-24 11:13:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:12 [info] currentZPosition:0.114
2025-04-24 11:13:14 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:14 [debug] Diagnostics for board 50:
2025-04-24 11:13:14 [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 11:13:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:18 ago, cause: software
2025-04-24 11:13:14 [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 11:13:14 [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 11:13:14 [debug] Moves scheduled 13632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6637, max=18292
Sync err accum 82, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:14 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17502, writes 0 timeouts 0
2025-04-24 11:13:14 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37174
2025-04-24 11:13:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:14 [info] currentZPosition:0.112
2025-04-24 11:13:15 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:15 [debug] Diagnostics for board 50:
2025-04-24 11:13:15 [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 11:13:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:20 ago, cause: software
2025-04-24 11:13:15 [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 11:13:15 [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 11:13:15 [debug] Moves scheduled 13636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 79, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:15 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16809, writes 0 timeouts 0
2025-04-24 11:13:15 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37175
2025-04-24 11:13:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:15 [info] currentZPosition:0.112
2025-04-24 11:13:16 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:16 [debug] Diagnostics for board 50:
2025-04-24 11:13:16 [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 11:13:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:21 ago, cause: software
2025-04-24 11:13:16 [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 11:13:16 [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 11:13:16 [debug] Moves scheduled 13640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6048, max=18292
Sync err accum 73, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294933614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:16 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16583, writes 0 timeouts 0
2025-04-24 11:13:16 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37174
2025-04-24 11:13:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:16 [info] currentZPosition:0.114
2025-04-24 11:13:17 [debug] Stopped at height 0.116 mm
2025-04-24 11:13:17 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:17 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:18 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:18 [debug] Diagnostics for board 50:
2025-04-24 11:13:18 [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 11:13:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:23 ago, cause: software
2025-04-24 11:13:18 [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 11:13:18 [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 11:13:18 [debug] Moves scheduled 13650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6818, max=17857
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 4294931999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:18 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 28590, writes 0 timeouts 0
2025-04-24 11:13:18 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 287, adv 36404/37178
2025-04-24 11:13:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:19 [info] currentZPosition:0.114
2025-04-24 11:13:19 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:20 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:20 [debug] Diagnostics for board 50:
2025-04-24 11:13:20 [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 11:13:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:25 ago, cause: software
2025-04-24 11:13:20 [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 11:13:20 [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 11:13:20 [debug] Moves scheduled 13656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:20 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 21147, writes 0 timeouts 0
2025-04-24 11:13:20 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37177
2025-04-24 11:13:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:20 [info] currentZPosition:0.114
2025-04-24 11:13:21 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:21 [debug] Diagnostics for board 50:
2025-04-24 11:13:21 [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 11:13:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:26 ago, cause: software
2025-04-24 11:13:21 [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 11:13:21 [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 11:13:21 [debug] Moves scheduled 13660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:21 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16232, writes 0 timeouts 0
2025-04-24 11:13:21 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36406/37177
2025-04-24 11:13:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:22 [info] currentZPosition:0.115
2025-04-24 11:13:23 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:23 [debug] Diagnostics for board 50:
2025-04-24 11:13:23 [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 11:13:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:28 ago, cause: software
2025-04-24 11:13:23 [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 11:13:23 [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 11:13:23 [debug] Moves scheduled 13664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:23 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17973, writes 0 timeouts 0
2025-04-24 11:13:23 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37175
2025-04-24 11:13:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8920, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:23 [info] currentZPosition:0.112
2025-04-24 11:13:23 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:25 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:25 [debug] Diagnostics for board 50:
2025-04-24 11:13:25 [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 11:13:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:29 ago, cause: software
2025-04-24 11:13:25 [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 11:13:25 [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 11:13:25 [debug] Moves scheduled 13670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:25 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20242, writes 0 timeouts 0
2025-04-24 11:13:25 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36397/37176
2025-04-24 11:13:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:25 [info] currentZPosition:0.113
2025-04-24 11:13:25 [debug] Stopped at height 0.111 mm
2025-04-24 11:13:26 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:26 [debug] Diagnostics for board 50:
2025-04-24 11:13:26 [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 11:13:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:31 ago, cause: software
2025-04-24 11:13:26 [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 11:13:26 [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 11:13:26 [debug] Moves scheduled 13676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:26 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 21480, writes 0 timeouts 0
2025-04-24 11:13:26 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37176
2025-04-24 11:13:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:26 [info] currentZPosition:0.112
2025-04-24 11:13:28 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:28 [debug] Diagnostics for board 50:
2025-04-24 11:13:28 [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 11:13:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:32 ago, cause: software
2025-04-24 11:13:28 [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 11:13:28 [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 11:13:28 [debug] Moves scheduled 13680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:28 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16048, writes 0 timeouts 0
2025-04-24 11:13:28 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36302/37168
2025-04-24 11:13:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:28 [info] currentZPosition:0.114
2025-04-24 11:13:28 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:29 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:29 [debug] Diagnostics for board 50:
2025-04-24 11:13:29 [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 11:13:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:34 ago, cause: software
2025-04-24 11:13:29 [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 11:13:29 [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 11:13:29 [debug] Moves scheduled 13686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 73, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:29 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20911, writes 0 timeouts 0
2025-04-24 11:13:29 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:13:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:29 [info] currentZPosition:0.115
2025-04-24 11:13:30 [debug] Stopped at height 0.112 mm
2025-04-24 11:13:31 [debug] Stopped at height 0.116 mm
2025-04-24 11:13:31 [debug] Diagnostics for board 50:
2025-04-24 11:13:31 [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 11:13:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:36 ago, cause: software
2025-04-24 11:13:31 [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 11:13:31 [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 11:13:31 [debug] Moves scheduled 13692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=5952, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:31 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20028, writes 0 timeouts 0
2025-04-24 11:13:31 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37176
2025-04-24 11:13:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:31 [info] currentZPosition:0.116
2025-04-24 11:13:31 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:32 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:33 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:33 [debug] Diagnostics for board 50:
2025-04-24 11:13:33 [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 11:13:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:38 ago, cause: software
2025-04-24 11:13:33 [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 11:13:33 [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 11:13:33 [debug] Moves scheduled 13700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 73, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:33 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 26120, writes 0 timeouts 0
2025-04-24 11:13:33 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36109/37176
2025-04-24 11:13:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:33 [info] currentZPosition:0.113
2025-04-24 11:13:34 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:34 [debug] Diagnostics for board 50:
2025-04-24 11:13:34 [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 11:13:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:39 ago, cause: software
2025-04-24 11:13:34 [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 11:13:34 [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 11:13:34 [debug] Moves scheduled 13704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 69, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:34 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16166, writes 0 timeouts 0
2025-04-24 11:13:34 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37174
2025-04-24 11:13:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:34 [info] currentZPosition:0.115
2025-04-24 11:13:35 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:36 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:36 [debug] Diagnostics for board 50:
2025-04-24 11:13:36 [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 11:13:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:15:41 ago, cause: software
2025-04-24 11:13:36 [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 11:13:36 [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 11:13:36 [debug] Moves scheduled 13710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17857
Sync err accum 67, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294935570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:36 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 21043, writes 0 timeouts 0
2025-04-24 11:13:36 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36106/37177
2025-04-24 11:13:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:36 [info] currentZPosition:0.115
2025-04-24 11:13:36 [debug] Stopped at height 0.113 mm
2025-04-24 11:13:38 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:38 [debug] Diagnostics for board 50:
2025-04-24 11:13:38 [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 11:13:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:42 ago, cause: software
2025-04-24 11:13:38 [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 11:13:38 [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 11:13:38 [debug] Moves scheduled 13716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 75, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:13:38 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20726, writes 0 timeouts 0
2025-04-24 11:13:38 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36397/37173
2025-04-24 11:13:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:38 [info] currentZPosition:0.114
2025-04-24 11:13:39 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:39 [debug] Diagnostics for board 50:
2025-04-24 11:13:39 [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 11:13:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:44 ago, cause: software
2025-04-24 11:13:39 [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 11:13:39 [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 11:13:39 [debug] Moves scheduled 13720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=88, frequency (Hz): min=6880, max=17857
Sync err accum 80, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:13:39 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17064, writes 0 timeouts 0
2025-04-24 11:13:39 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37174
2025-04-24 11:13:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:39 [info] currentZPosition:0.115
2025-04-24 11:13:40 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:40 [debug] Diagnostics for board 50:
2025-04-24 11:13:40 [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 11:13:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:45 ago, cause: software
2025-04-24 11:13:40 [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 11:13:40 [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 11:13:40 [debug] Moves scheduled 13724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17441
Sync err accum 83, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:40 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16720, writes 0 timeouts 0
2025-04-24 11:13:40 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37173
2025-04-24 11:13:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:40 [info] currentZPosition:0.114
2025-04-24 11:13:42 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:42 [debug] Diagnostics for board 50:
2025-04-24 11:13:42 [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 11:13:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:46 ago, cause: software
2025-04-24 11:13:42 [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 11:13:42 [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 11:13:42 [debug] Moves scheduled 13728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 82, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:42 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16984, writes 0 timeouts 0
2025-04-24 11:13:42 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36103/37176
2025-04-24 11:13:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:42 [info] currentZPosition:0.115
2025-04-24 11:13:43 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:43 [debug] Diagnostics for board 50:
2025-04-24 11:13:43 [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 11:13:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:48 ago, cause: software
2025-04-24 11:13:43 [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 11:13:43 [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 11:13:43 [debug] Moves scheduled 13732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 82, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:43 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16756, writes 0 timeouts 0
2025-04-24 11:13:43 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37176
2025-04-24 11:13:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:43 [info] currentZPosition:0.115
2025-04-24 11:13:44 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:44 [debug] Diagnostics for board 50:
2025-04-24 11:13:44 [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 11:13:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:49 ago, cause: software
2025-04-24 11:13:44 [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 11:13:44 [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 11:13:44 [debug] Moves scheduled 13736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 77, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:44 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17316, writes 0 timeouts 0
2025-04-24 11:13:44 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37173
2025-04-24 11:13:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:44 [info] currentZPosition:0.114
2025-04-24 11:13:46 [debug] Stopped at height 0.116 mm
2025-04-24 11:13:46 [debug] Diagnostics for board 50:
2025-04-24 11:13:46 [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 11:13:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:50 ago, cause: software
2025-04-24 11:13:46 [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 11:13:46 [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 11:13:46 [debug] Moves scheduled 13740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:46 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16165, writes 0 timeouts 0
2025-04-24 11:13:46 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36406/37174
2025-04-24 11:13:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 805
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:46 [info] currentZPosition:0.116
2025-04-24 11:13:46 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:47 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:47 [debug] Diagnostics for board 50:
2025-04-24 11:13:47 [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 11:13:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:52 ago, cause: software
2025-04-24 11:13:47 [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 11:13:47 [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 11:13:47 [debug] Moves scheduled 13746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:47 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 21407, writes 0 timeouts 0
2025-04-24 11:13:47 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 11:13:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:47 [info] currentZPosition:0.115
2025-04-24 11:13:49 [debug] Stopped at height 0.116 mm
2025-04-24 11:13:49 [debug] Diagnostics for board 50:
2025-04-24 11:13:49 [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 11:13:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:53 ago, cause: software
2025-04-24 11:13:49 [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 11:13:49 [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 11:13:49 [debug] Moves scheduled 13750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=76, frequency (Hz): min=6410, max=17857
Sync err accum 73, peak jitter 0/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:49 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16284, writes 0 timeouts 0
2025-04-24 11:13:49 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36379/37170
2025-04-24 11:13:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:49 [info] currentZPosition:0.116
2025-04-24 11:13:50 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:50 [debug] Diagnostics for board 50:
2025-04-24 11:13:50 [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 11:13:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:55 ago, cause: software
2025-04-24 11:13:50 [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 11:13:50 [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 11:13:50 [debug] Moves scheduled 13754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 83, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:13:50 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17394, writes 0 timeouts 0
2025-04-24 11:13:50 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37175
2025-04-24 11:13:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:50 [info] currentZPosition:0.115
2025-04-24 11:13:51 [debug] Stopped at height 0.114 mm
2025-04-24 11:13:51 [debug] Diagnostics for board 50:
2025-04-24 11:13:51 [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 11:13:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:56 ago, cause: software
2025-04-24 11:13:51 [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 11:13:51 [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 11:13:51 [debug] Moves scheduled 13758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:13:51 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16726, writes 0 timeouts 0
2025-04-24 11:13:51 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37174
2025-04-24 11:13:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:51 [info] currentZPosition:0.114
2025-04-24 11:13:53 [debug] Stopped at height 0.116 mm
2025-04-24 11:13:53 [debug] Diagnostics for board 50:
2025-04-24 11:13:53 [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 11:13:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:58 ago, cause: software
2025-04-24 11:13:53 [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 11:13:53 [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 11:13:53 [debug] Moves scheduled 13762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 98, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:53 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16727, writes 0 timeouts 0
2025-04-24 11:13:53 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37174
2025-04-24 11:13:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 804
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:53 [info] currentZPosition:0.116
2025-04-24 11:13:53 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:54 [debug] Stopped at height 0.116 mm
2025-04-24 11:13:54 [debug] Diagnostics for board 50:
2025-04-24 11:13:54 [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 11:13:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:15:59 ago, cause: software
2025-04-24 11:13:54 [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 11:13:54 [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 11:13:54 [debug] Moves scheduled 13768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 101, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929056 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:13:54 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20587, writes 0 timeouts 0
2025-04-24 11:13:54 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36395/37173
2025-04-24 11:13:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:54 [info] currentZPosition:0.116
2025-04-24 11:13:56 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:56 [debug] Diagnostics for board 50:
2025-04-24 11:13:56 [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 11:13:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:01 ago, cause: software
2025-04-24 11:13:56 [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 11:13:56 [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 11:13:56 [debug] Moves scheduled 13772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:56 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17292, writes 0 timeouts 0
2025-04-24 11:13:56 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36089/37175
2025-04-24 11:13:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:56 [info] currentZPosition:0.115
2025-04-24 11:13:57 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:57 [debug] Diagnostics for board 50:
2025-04-24 11:13:57 [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 11:13:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:02 ago, cause: software
2025-04-24 11:13:57 [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 11:13:57 [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 11:13:57 [debug] Moves scheduled 13776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 97, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935379 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:57 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16762, writes 0 timeouts 0
2025-04-24 11:13:57 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37174
2025-04-24 11:13:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:57 [info] currentZPosition:0.115
2025-04-24 11:13:58 [debug] Stopped at height 0.115 mm
2025-04-24 11:13:58 [debug] Diagnostics for board 50:
2025-04-24 11:13:58 [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 11:13:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:03 ago, cause: software
2025-04-24 11:13:58 [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 11:13:58 [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 11:13:58 [debug] Moves scheduled 13780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:13:58 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17214, writes 0 timeouts 0
2025-04-24 11:13:58 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37174
2025-04-24 11:13:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:13:59 [info] currentZPosition:0.115
2025-04-24 11:14:00 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:00 [debug] Diagnostics for board 50:
2025-04-24 11:14:00 [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 11:14:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:05 ago, cause: software
2025-04-24 11:14:00 [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 11:14:00 [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 11:14:00 [debug] Moves scheduled 13784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17857
Sync err accum 84, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:00 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16914, writes 0 timeouts 0
2025-04-24 11:14:00 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36399/37174
2025-04-24 11:14:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:00 [info] currentZPosition:0.114
2025-04-24 11:14:01 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:01 [debug] Diagnostics for board 50:
2025-04-24 11:14:01 [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 11:14:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:06 ago, cause: software
2025-04-24 11:14:01 [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 11:14:01 [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 11:14:01 [debug] Moves scheduled 13788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:01 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16639, writes 0 timeouts 0
2025-04-24 11:14:01 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37173
2025-04-24 11:14:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:01 [info] currentZPosition:0.116
2025-04-24 11:14:02 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:03 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:03 [debug] Diagnostics for board 50:
2025-04-24 11:14:03 [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 11:14:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:08 ago, cause: software
2025-04-24 11:14:03 [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 11:14:03 [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 11:14:03 [debug] Moves scheduled 13794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 61, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:03 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20604, writes 0 timeouts 0
2025-04-24 11:14:03 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37176
2025-04-24 11:14:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:03 [info] currentZPosition:0.115
2025-04-24 11:14:04 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:04 [debug] Diagnostics for board 50:
2025-04-24 11:14:04 [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 11:14:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:09 ago, cause: software
2025-04-24 11:14:04 [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 11:14:04 [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 11:14:04 [debug] Moves scheduled 13798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 81, peak jitter 2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:04 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16885, writes 0 timeouts 0
2025-04-24 11:14:04 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35872/37173
2025-04-24 11:14:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:04 [info] currentZPosition:0.116
2025-04-24 11:14:05 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:05 [debug] Diagnostics for board 50:
2025-04-24 11:14:05 [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 11:14:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:10 ago, cause: software
2025-04-24 11:14:05 [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 11:14:05 [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 11:14:05 [debug] Moves scheduled 13802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5725, max=17045
Sync err accum 93, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:05 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16768, writes 0 timeouts 0
2025-04-24 11:14:05 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36281/37173
2025-04-24 11:14:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:06 [info] currentZPosition:0.116
2025-04-24 11:14:07 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:07 [debug] Diagnostics for board 50:
2025-04-24 11:14:07 [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 11:14:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:12 ago, cause: software
2025-04-24 11:14:07 [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 11:14:07 [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 11:14:07 [debug] Moves scheduled 13806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=18292
Sync err accum 106, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:07 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17550, writes 0 timeouts 0
2025-04-24 11:14:07 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37173
2025-04-24 11:14:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:07 [info] currentZPosition:0.115
2025-04-24 11:14:08 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:08 [debug] Diagnostics for board 50:
2025-04-24 11:14:08 [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 11:14:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:13 ago, cause: software
2025-04-24 11:14:08 [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 11:14:08 [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 11:14:08 [debug] Moves scheduled 13810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 115, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:08 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16489, writes 0 timeouts 0
2025-04-24 11:14:08 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36164/37173
2025-04-24 11:14:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:08 [info] currentZPosition:0.115
2025-04-24 11:14:10 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:10 [debug] Diagnostics for board 50:
2025-04-24 11:14:10 [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 11:14:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:14 ago, cause: software
2025-04-24 11:14:10 [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 11:14:10 [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 11:14:10 [debug] Moves scheduled 13814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 123, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:10 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17255, writes 0 timeouts 0
2025-04-24 11:14:10 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36101/37172
2025-04-24 11:14:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:10 [info] currentZPosition:0.115
2025-04-24 11:14:11 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:11 [debug] Diagnostics for board 50:
2025-04-24 11:14:11 [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 11:14:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:16 ago, cause: software
2025-04-24 11:14:11 [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 11:14:11 [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 11:14:11 [debug] Moves scheduled 13818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6250, max=17045
Sync err accum 127, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:14:11 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16561, writes 0 timeouts 0
2025-04-24 11:14:11 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37173
2025-04-24 11:14:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:11 [info] currentZPosition:0.115
2025-04-24 11:14:12 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:12 [debug] Diagnostics for board 50:
2025-04-24 11:14:12 [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 11:14:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:17 ago, cause: software
2025-04-24 11:14:12 [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 11:14:12 [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 11:14:12 [debug] Moves scheduled 13822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 123, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:12 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16988, writes 0 timeouts 0
2025-04-24 11:14:12 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37177
2025-04-24 11:14:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:12 [info] currentZPosition:0.115
2025-04-24 11:14:14 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:14 [debug] Diagnostics for board 50:
2025-04-24 11:14:14 [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 11:14:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:18 ago, cause: software
2025-04-24 11:14:14 [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 11:14:14 [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 11:14:14 [debug] Moves scheduled 13826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 116, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:14:14 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16818, writes 0 timeouts 0
2025-04-24 11:14:14 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37176
2025-04-24 11:14:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:14 [info] currentZPosition:0.115
2025-04-24 11:14:15 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:15 [debug] Diagnostics for board 50:
2025-04-24 11:14:15 [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 11:14:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:20 ago, cause: software
2025-04-24 11:14:15 [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 11:14:15 [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 11:14:15 [debug] Moves scheduled 13830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6465, max=17045
Sync err accum 109, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294930035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:14:15 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16703, writes 0 timeouts 0
2025-04-24 11:14:15 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36090/37178
2025-04-24 11:14:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:15 [info] currentZPosition:0.116
2025-04-24 11:14:15 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:17 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:17 [debug] Diagnostics for board 50:
2025-04-24 11:14:17 [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 11:14:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:21 ago, cause: software
2025-04-24 11:14:17 [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 11:14:17 [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 11:14:17 [debug] Moves scheduled 13836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 95, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:14:17 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20572, writes 0 timeouts 0
2025-04-24 11:14:17 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37179
2025-04-24 11:14:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:17 [info] currentZPosition:0.116
2025-04-24 11:14:18 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:18 [debug] Diagnostics for board 50:
2025-04-24 11:14:18 [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 11:14:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:23 ago, cause: software
2025-04-24 11:14:18 [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 11:14:18 [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 11:14:18 [debug] Moves scheduled 13840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 78, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:18 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17332, writes 0 timeouts 0
2025-04-24 11:14:18 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37180
2025-04-24 11:14:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:18 [info] currentZPosition:0.115
2025-04-24 11:14:19 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:19 [debug] Diagnostics for board 50:
2025-04-24 11:14:19 [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 11:14:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:24 ago, cause: software
2025-04-24 11:14:19 [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 11:14:19 [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 11:14:19 [debug] Moves scheduled 13844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6944, max=17045
Sync err accum 64, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:19 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16369, writes 0 timeouts 0
2025-04-24 11:14:19 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36165/37176
2025-04-24 11:14:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:19 [info] currentZPosition:0.116
2025-04-24 11:14:21 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:21 [debug] Diagnostics for board 50:
2025-04-24 11:14:21 [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 11:14:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:26 ago, cause: software
2025-04-24 11:14:21 [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 11:14:21 [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 11:14:21 [debug] Moves scheduled 13848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -3/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:21 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17396, writes 0 timeouts 0
2025-04-24 11:14:21 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37176
2025-04-24 11:14:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:21 [info] currentZPosition:0.115
2025-04-24 11:14:22 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:22 [debug] Diagnostics for board 50:
2025-04-24 11:14:22 [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 11:14:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:27 ago, cause: software
2025-04-24 11:14:22 [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 11:14:22 [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 11:14:22 [debug] Moves scheduled 13852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:22 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16953, writes 0 timeouts 0
2025-04-24 11:14:22 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36153/37172
2025-04-24 11:14:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:22 [info] currentZPosition:0.114
2025-04-24 11:14:23 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:23 [debug] Diagnostics for board 50:
2025-04-24 11:14:23 [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 11:14:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:28 ago, cause: software
2025-04-24 11:14:23 [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 11:14:23 [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 11:14:23 [debug] Moves scheduled 13856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6048, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:23 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16678, writes 0 timeouts 0
2025-04-24 11:14:23 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36105/37173
2025-04-24 11:14:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:23 [info] currentZPosition:0.116
2025-04-24 11:14:24 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:25 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:25 [debug] Diagnostics for board 50:
2025-04-24 11:14:25 [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 11:14:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:30 ago, cause: software
2025-04-24 11:14:25 [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 11:14:25 [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 11:14:25 [debug] Moves scheduled 13862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6097, max=17857
Sync err accum 86, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:25 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20979, writes 0 timeouts 0
2025-04-24 11:14:25 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36156/37176
2025-04-24 11:14:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:25 [info] currentZPosition:0.114
2025-04-24 11:14:26 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:26 [debug] Diagnostics for board 50:
2025-04-24 11:14:26 [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 11:14:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:31 ago, cause: software
2025-04-24 11:14:26 [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 11:14:26 [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 11:14:26 [debug] Moves scheduled 13866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17441
Sync err accum 91, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:26 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16764, writes 0 timeouts 0
2025-04-24 11:14:26 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36100/37175
2025-04-24 11:14:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:26 [info] currentZPosition:0.116
2025-04-24 11:14:27 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:28 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:28 [debug] Diagnostics for board 50:
2025-04-24 11:14:28 [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 11:14:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:33 ago, cause: software
2025-04-24 11:14:28 [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 11:14:28 [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 11:14:28 [debug] Moves scheduled 13872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:28 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20314, writes 0 timeouts 0
2025-04-24 11:14:28 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36161/37175
2025-04-24 11:14:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:28 [info] currentZPosition:0.116
2025-04-24 11:14:28 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:30 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:30 [debug] Diagnostics for board 50:
2025-04-24 11:14:30 [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 11:14:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:35 ago, cause: software
2025-04-24 11:14:30 [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 11:14:30 [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 11:14:30 [debug] Moves scheduled 13878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6756, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:30 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 21192, writes 0 timeouts 0
2025-04-24 11:14:30 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37174
2025-04-24 11:14:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:30 [info] currentZPosition:0.116
2025-04-24 11:14:30 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:31 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:31 [debug] Diagnostics for board 50:
2025-04-24 11:14:31 [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 11:14:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:36 ago, cause: software
2025-04-24 11:14:31 [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 11:14:31 [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 11:14:31 [debug] Moves scheduled 13884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5952, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:31 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20361, writes 0 timeouts 0
2025-04-24 11:14:31 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37177
2025-04-24 11:14:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:31 [info] currentZPosition:0.116
2025-04-24 11:14:32 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:33 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:33 [debug] Diagnostics for board 50:
2025-04-24 11:14:33 [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 11:14:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:38 ago, cause: software
2025-04-24 11:14:33 [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 11:14:33 [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 11:14:33 [debug] Moves scheduled 13890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 66, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294888825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:33 [debug] Driver 0: pos -3469, 10060.2 steps/mm, standstill, SG min 0, mspos 440, reads 21831, writes 0 timeouts 0
2025-04-24 11:14:33 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36103/37179
2025-04-24 11:14:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:33 [info] currentZPosition:0.116
2025-04-24 11:14:34 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:34 [debug] Diagnostics for board 50:
2025-04-24 11:14:34 [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 11:14:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:39 ago, cause: software
2025-04-24 11:14:34 [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 11:14:34 [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 11:14:34 [debug] Moves scheduled 13894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
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 4294931497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:34 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16682, writes 0 timeouts 0
2025-04-24 11:14:34 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37177
2025-04-24 11:14:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:35 [info] currentZPosition:0.115
2025-04-24 11:14:36 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:36 [debug] Diagnostics for board 50:
2025-04-24 11:14:36 [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 11:14:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:41 ago, cause: software
2025-04-24 11:14:36 [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 11:14:36 [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 11:14:36 [debug] Moves scheduled 13898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17857
Sync err accum 75, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:36 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17145, writes 0 timeouts 0
2025-04-24 11:14:36 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36100/37175
2025-04-24 11:14:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:36 [info] currentZPosition:0.116
2025-04-24 11:14:37 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:37 [debug] Diagnostics for board 50:
2025-04-24 11:14:37 [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 11:14:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:42 ago, cause: software
2025-04-24 11:14:37 [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 11:14:37 [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 11:14:37 [debug] Moves scheduled 13902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 79, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:37 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16266, writes 0 timeouts 0
2025-04-24 11:14:37 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37174
2025-04-24 11:14:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:37 [info] currentZPosition:0.116
2025-04-24 11:14:39 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:39 [debug] Diagnostics for board 50:
2025-04-24 11:14:39 [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 11:14:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:43 ago, cause: software
2025-04-24 11:14:39 [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 11:14:39 [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 11:14:39 [debug] Moves scheduled 13906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:39 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17359, writes 0 timeouts 0
2025-04-24 11:14:39 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37175
2025-04-24 11:14:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:39 [info] currentZPosition:0.116
2025-04-24 11:14:40 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:40 [debug] Diagnostics for board 50:
2025-04-24 11:14:40 [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 11:14:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:45 ago, cause: software
2025-04-24 11:14:40 [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 11:14:40 [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 11:14:40 [debug] Moves scheduled 13910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 92, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:40 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16671, writes 0 timeouts 0
2025-04-24 11:14:40 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37174
2025-04-24 11:14:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:40 [info] currentZPosition:0.116
2025-04-24 11:14:41 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:41 [debug] Diagnostics for board 50:
2025-04-24 11:14:41 [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 11:14:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:46 ago, cause: software
2025-04-24 11:14:41 [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 11:14:41 [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 11:14:41 [debug] Moves scheduled 13914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 95, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:41 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17037, writes 0 timeouts 0
2025-04-24 11:14:41 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 11:14:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:41 [info] currentZPosition:0.116
2025-04-24 11:14:43 [debug] Stopped at height 0.117 mm
2025-04-24 11:14:43 [debug] Diagnostics for board 50:
2025-04-24 11:14:43 [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 11:14:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:47 ago, cause: software
2025-04-24 11:14:43 [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 11:14:43 [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 11:14:43 [debug] Moves scheduled 13918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:43 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16296, writes 0 timeouts 0
2025-04-24 11:14:43 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37177
2025-04-24 11:14:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:43 [info] currentZPosition:0.117
2025-04-24 11:14:44 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:44 [debug] Diagnostics for board 50:
2025-04-24 11:14:44 [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 11:14:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:49 ago, cause: software
2025-04-24 11:14:44 [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 11:14:44 [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 11:14:44 [debug] Moves scheduled 13922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:44 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17731, writes 0 timeouts 0
2025-04-24 11:14:44 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:14:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:44 [info] currentZPosition:0.115
2025-04-24 11:14:44 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:46 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:46 [debug] Diagnostics for board 50:
2025-04-24 11:14:46 [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 11:14:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:50 ago, cause: software
2025-04-24 11:14:46 [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 11:14:46 [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 11:14:46 [debug] Moves scheduled 13928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:46 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20524, writes 0 timeouts 0
2025-04-24 11:14:46 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37177
2025-04-24 11:14:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:46 [info] currentZPosition:0.115
2025-04-24 11:14:47 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:47 [debug] Diagnostics for board 50:
2025-04-24 11:14:47 [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 11:14:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:52 ago, cause: software
2025-04-24 11:14:47 [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 11:14:47 [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 11:14:47 [debug] Moves scheduled 13932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17857
Sync err accum 78, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:47 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16798, writes 0 timeouts 0
2025-04-24 11:14:47 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36113/37178
2025-04-24 11:14:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:47 [info] currentZPosition:0.116
2025-04-24 11:14:48 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:48 [debug] Diagnostics for board 50:
2025-04-24 11:14:48 [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 11:14:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:53 ago, cause: software
2025-04-24 11:14:48 [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 11:14:48 [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 11:14:48 [debug] Moves scheduled 13936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6696, max=17441
Sync err accum 67, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:14:48 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16481, writes 0 timeouts 0
2025-04-24 11:14:48 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36169/37176
2025-04-24 11:14:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:48 [info] currentZPosition:0.116
2025-04-24 11:14:50 [debug] Stopped at height 0.115 mm
2025-04-24 11:14:50 [debug] Diagnostics for board 50:
2025-04-24 11:14:50 [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 11:14:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:54 ago, cause: software
2025-04-24 11:14:50 [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 11:14:50 [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 11:14:50 [debug] Moves scheduled 13940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 64, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:50 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17516, writes 0 timeouts 0
2025-04-24 11:14:50 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37179
2025-04-24 11:14:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:50 [info] currentZPosition:0.115
2025-04-24 11:14:51 [debug] Stopped at height 0.117 mm
2025-04-24 11:14:51 [debug] Diagnostics for board 50:
2025-04-24 11:14:51 [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 11:14:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:56 ago, cause: software
2025-04-24 11:14:51 [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 11:14:51 [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 11:14:51 [debug] Moves scheduled 13944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:51 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16051, writes 0 timeouts 0
2025-04-24 11:14:51 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37172
2025-04-24 11:14:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:51 [info] currentZPosition:0.117
2025-04-24 11:14:51 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:53 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:53 [debug] Diagnostics for board 50:
2025-04-24 11:14:53 [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 11:14:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:57 ago, cause: software
2025-04-24 11:14:53 [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 11:14:53 [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 11:14:53 [debug] Moves scheduled 13950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:53 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 21509, writes 0 timeouts 0
2025-04-24 11:14:53 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36106/37176
2025-04-24 11:14:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:53 [info] currentZPosition:0.116
2025-04-24 11:14:54 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:54 [debug] Diagnostics for board 50:
2025-04-24 11:14:54 [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 11:14:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:16:59 ago, cause: software
2025-04-24 11:14:54 [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 11:14:54 [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 11:14:54 [debug] Moves scheduled 13954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5725, max=17441
Sync err accum 87, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:14:54 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16591, writes 0 timeouts 0
2025-04-24 11:14:54 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37177
2025-04-24 11:14:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:54 [info] currentZPosition:0.116
2025-04-24 11:14:55 [debug] Stopped at height 0.116 mm
2025-04-24 11:14:55 [debug] Diagnostics for board 50:
2025-04-24 11:14:55 [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 11:14:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:00 ago, cause: software
2025-04-24 11:14:55 [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 11:14:55 [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 11:14:55 [debug] Moves scheduled 13958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:55 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17041, writes 0 timeouts 0
2025-04-24 11:14:55 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37174
2025-04-24 11:14:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:55 [info] currentZPosition:0.116
2025-04-24 11:14:57 [debug] Stopped at height 0.114 mm
2025-04-24 11:14:57 [debug] Diagnostics for board 50:
2025-04-24 11:14:57 [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 11:14:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:02 ago, cause: software
2025-04-24 11:14:57 [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 11:14:57 [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 11:14:57 [debug] Moves scheduled 13962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6637, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:14:57 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17387, writes 0 timeouts 0
2025-04-24 11:14:57 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37177
2025-04-24 11:14:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:57 [info] currentZPosition:0.114
2025-04-24 11:14:57 [debug] Stopped at height 0.113 mm
2025-04-24 11:14:58 [debug] Stopped at height 0.117 mm
2025-04-24 11:14:58 [debug] Diagnostics for board 50:
2025-04-24 11:14:58 [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 11:14:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:03 ago, cause: software
2025-04-24 11:14:58 [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 11:14:58 [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 11:14:58 [debug] Moves scheduled 13968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:14:58 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20319, writes 0 timeouts 0
2025-04-24 11:14:58 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37177
2025-04-24 11:14:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:14:58 [info] currentZPosition:0.117
2025-04-24 11:14:59 [debug] Stopped at height 0.115 mm
2025-04-24 11:15:00 [debug] Stopped at height 0.118 mm
2025-04-24 11:15:00 [debug] Diagnostics for board 50:
2025-04-24 11:15:00 [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 11:15:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:05 ago, cause: software
2025-04-24 11:15:00 [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 11:15:00 [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 11:15:00 [debug] Moves scheduled 13974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:00 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20333, writes 0 timeouts 0
2025-04-24 11:15:00 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36299/37178
2025-04-24 11:15:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:00 [info] currentZPosition:0.118
2025-04-24 11:15:00 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:02 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:02 [debug] Diagnostics for board 50:
2025-04-24 11:15:02 [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 11:15:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:07 ago, cause: software
2025-04-24 11:15:02 [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 11:15:02 [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 11:15:02 [debug] Moves scheduled 13980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17441
Sync err accum 63, peak jitter -2/-1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:02 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 21677, writes 0 timeouts 0
2025-04-24 11:15:02 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37176
2025-04-24 11:15:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:02 [info] currentZPosition:0.116
2025-04-24 11:15:02 [debug] Stopped at height 0.114 mm
2025-04-24 11:15:03 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:03 [debug] Diagnostics for board 50:
2025-04-24 11:15:03 [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 11:15:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:08 ago, cause: software
2025-04-24 11:15:03 [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 11:15:03 [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 11:15:03 [debug] Moves scheduled 13986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 69, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:03 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20310, writes 0 timeouts 0
2025-04-24 11:15:03 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 286, adv 36401/37177
2025-04-24 11:15:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:03 [info] currentZPosition:0.117
2025-04-24 11:15:04 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:05 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:05 [debug] Diagnostics for board 50:
2025-04-24 11:15:05 [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 11:15:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:10 ago, cause: software
2025-04-24 11:15:05 [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 11:15:05 [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 11:15:05 [debug] Moves scheduled 13992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 73, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:05 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21142, writes 0 timeouts 0
2025-04-24 11:15:05 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36100/37176
2025-04-24 11:15:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:05 [info] currentZPosition:0.116
2025-04-24 11:15:06 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:06 [debug] Diagnostics for board 50:
2025-04-24 11:15:06 [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 11:15:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:11 ago, cause: software
2025-04-24 11:15:06 [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 11:15:06 [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 11:15:06 [debug] Moves scheduled 13996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6637, max=18292
Sync err accum 73, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:06 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16618, writes 0 timeouts 0
2025-04-24 11:15:06 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36377/37177
2025-04-24 11:15:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:06 [info] currentZPosition:0.116
2025-04-24 11:15:08 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:08 [debug] Diagnostics for board 50:
2025-04-24 11:15:08 [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 11:15:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:13 ago, cause: software
2025-04-24 11:15:08 [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 11:15:08 [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 11:15:08 [debug] Moves scheduled 14000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=616, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:08 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17034, writes 11 timeouts 1
2025-04-24 11:15:08 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37175
2025-04-24 11:15:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:08 [info] currentZPosition:0.117
2025-04-24 11:15:09 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:09 [debug] Diagnostics for board 50:
2025-04-24 11:15:09 [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 11:15:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:14 ago, cause: software
2025-04-24 11:15:09 [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 11:15:09 [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 11:15:09 [debug] Moves scheduled 14004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:09 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16523, writes 0 timeouts 0
2025-04-24 11:15:09 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37176
2025-04-24 11:15:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:09 [info] currentZPosition:0.117
2025-04-24 11:15:10 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:10 [debug] Diagnostics for board 50:
2025-04-24 11:15:10 [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 11:15:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:15 ago, cause: software
2025-04-24 11:15:10 [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 11:15:10 [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 11:15:10 [debug] Moves scheduled 14008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:10 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17437, writes 0 timeouts 0
2025-04-24 11:15:10 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:15:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:11 [info] currentZPosition:0.116
2025-04-24 11:15:12 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:12 [debug] Diagnostics for board 50:
2025-04-24 11:15:12 [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 11:15:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:17 ago, cause: software
2025-04-24 11:15:12 [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 11:15:12 [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 11:15:12 [debug] Moves scheduled 14012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:12 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16261, writes 0 timeouts 0
2025-04-24 11:15:12 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37174
2025-04-24 11:15:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:12 [info] currentZPosition:0.117
2025-04-24 11:15:13 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:13 [debug] Diagnostics for board 50:
2025-04-24 11:15:13 [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 11:15:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:18 ago, cause: software
2025-04-24 11:15:13 [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 11:15:13 [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 11:15:13 [debug] Moves scheduled 14016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6355, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:13 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17508, writes 0 timeouts 0
2025-04-24 11:15:13 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37173
2025-04-24 11:15:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:13 [info] currentZPosition:0.116
2025-04-24 11:15:14 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:14 [debug] Diagnostics for board 50:
2025-04-24 11:15:14 [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 11:15:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:19 ago, cause: software
2025-04-24 11:15:14 [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 11:15:14 [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 11:15:14 [debug] Moves scheduled 14020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 86, peak jitter 1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:14 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16377, writes 0 timeouts 0
2025-04-24 11:15:14 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37174
2025-04-24 11:15:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:15 [info] currentZPosition:0.117
2025-04-24 11:15:16 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:16 [debug] Diagnostics for board 50:
2025-04-24 11:15:16 [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 11:15:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:21 ago, cause: software
2025-04-24 11:15:16 [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 11:15:16 [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 11:15:16 [debug] Moves scheduled 14024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:16 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17117, writes 0 timeouts 0
2025-04-24 11:15:16 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37169
2025-04-24 11:15:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:16 [info] currentZPosition:0.117
2025-04-24 11:15:17 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:17 [debug] Diagnostics for board 50:
2025-04-24 11:15:17 [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 11:15:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:22 ago, cause: software
2025-04-24 11:15:17 [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 11:15:17 [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 11:15:17 [debug] Moves scheduled 14028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17441
Sync err accum 92, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:17 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16846, writes 0 timeouts 0
2025-04-24 11:15:17 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36399/37175
2025-04-24 11:15:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:17 [info] currentZPosition:0.116
2025-04-24 11:15:19 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:19 [debug] Diagnostics for board 50:
2025-04-24 11:15:19 [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 11:15:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:23 ago, cause: software
2025-04-24 11:15:19 [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 11:15:19 [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 11:15:19 [debug] Moves scheduled 14032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:19 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16756, writes 0 timeouts 0
2025-04-24 11:15:19 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37173
2025-04-24 11:15:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:19 [info] currentZPosition:0.117
2025-04-24 11:15:19 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:20 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:20 [debug] Diagnostics for board 50:
2025-04-24 11:15:20 [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 11:15:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:25 ago, cause: software
2025-04-24 11:15:20 [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 11:15:20 [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 11:15:20 [debug] Moves scheduled 14038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 81, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:20 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20850, writes 0 timeouts 0
2025-04-24 11:15:20 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37177
2025-04-24 11:15:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:20 [info] currentZPosition:0.116
2025-04-24 11:15:22 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:22 [debug] Diagnostics for board 50:
2025-04-24 11:15:22 [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 11:15:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:26 ago, cause: software
2025-04-24 11:15:22 [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 11:15:22 [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 11:15:22 [debug] Moves scheduled 14042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:22 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17020, writes 0 timeouts 0
2025-04-24 11:15:22 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37174
2025-04-24 11:15:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:22 [info] currentZPosition:0.117
2025-04-24 11:15:23 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:23 [debug] Diagnostics for board 50:
2025-04-24 11:15:23 [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 11:15:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:28 ago, cause: software
2025-04-24 11:15:23 [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 11:15:23 [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 11:15:23 [debug] Moves scheduled 14046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:23 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16922, writes 0 timeouts 0
2025-04-24 11:15:23 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37175
2025-04-24 11:15:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:23 [info] currentZPosition:0.116
2025-04-24 11:15:24 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:24 [debug] Diagnostics for board 50:
2025-04-24 11:15:24 [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 11:15:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:29 ago, cause: software
2025-04-24 11:15:24 [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 11:15:24 [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 11:15:24 [debug] Moves scheduled 14050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 67, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:24 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17032, writes 0 timeouts 0
2025-04-24 11:15:24 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37175
2025-04-24 11:15:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:24 [info] currentZPosition:0.116
2025-04-24 11:15:26 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:26 [debug] Diagnostics for board 50:
2025-04-24 11:15:26 [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 11:15:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:30 ago, cause: software
2025-04-24 11:15:26 [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 11:15:26 [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 11:15:26 [debug] Moves scheduled 14054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:26 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16582, writes 0 timeouts 0
2025-04-24 11:15:26 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36397/37176
2025-04-24 11:15:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:26 [info] currentZPosition:0.117
2025-04-24 11:15:27 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:27 [debug] Diagnostics for board 50:
2025-04-24 11:15:27 [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 11:15:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:32 ago, cause: software
2025-04-24 11:15:27 [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 11:15:27 [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 11:15:27 [debug] Moves scheduled 14058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:27 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17005, writes 0 timeouts 0
2025-04-24 11:15:27 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37175
2025-04-24 11:15:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:27 [info] currentZPosition:0.117
2025-04-24 11:15:28 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:28 [debug] Diagnostics for board 50:
2025-04-24 11:15:28 [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 11:15:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:33 ago, cause: software
2025-04-24 11:15:28 [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 11:15:28 [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 11:15:28 [debug] Moves scheduled 14062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 90, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:28 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16633, writes 0 timeouts 0
2025-04-24 11:15:28 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37172
2025-04-24 11:15:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:28 [info] currentZPosition:0.117
2025-04-24 11:15:30 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:30 [debug] Diagnostics for board 50:
2025-04-24 11:15:30 [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 11:15:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:34 ago, cause: software
2025-04-24 11:15:30 [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 11:15:30 [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 11:15:30 [debug] Moves scheduled 14066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 90, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:30 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17406, writes 0 timeouts 0
2025-04-24 11:15:30 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36103/37174
2025-04-24 11:15:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:30 [info] currentZPosition:0.116
2025-04-24 11:15:31 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:31 [debug] Diagnostics for board 50:
2025-04-24 11:15:31 [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 11:15:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:36 ago, cause: software
2025-04-24 11:15:31 [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 11:15:31 [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 11:15:31 [debug] Moves scheduled 14070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:31 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16504, writes 0 timeouts 0
2025-04-24 11:15:31 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37173
2025-04-24 11:15:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:31 [info] currentZPosition:0.117
2025-04-24 11:15:32 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:32 [debug] Diagnostics for board 50:
2025-04-24 11:15:32 [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 11:15:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:37 ago, cause: software
2025-04-24 11:15:32 [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 11:15:32 [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 11:15:32 [debug] Moves scheduled 14074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 88, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:32 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17157, writes 0 timeouts 0
2025-04-24 11:15:32 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36111/37174
2025-04-24 11:15:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:32 [info] currentZPosition:0.117
2025-04-24 11:15:34 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:34 [debug] Diagnostics for board 50:
2025-04-24 11:15:34 [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 11:15:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:39 ago, cause: software
2025-04-24 11:15:34 [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 11:15:34 [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 11:15:34 [debug] Moves scheduled 14078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 82, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:34 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16876, writes 0 timeouts 0
2025-04-24 11:15:34 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36383/37178
2025-04-24 11:15:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:34 [info] currentZPosition:0.116
2025-04-24 11:15:35 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:35 [debug] Diagnostics for board 50:
2025-04-24 11:15:35 [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 11:15:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:40 ago, cause: software
2025-04-24 11:15:35 [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 11:15:35 [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 11:15:35 [debug] Moves scheduled 14082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:35 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17110, writes 0 timeouts 0
2025-04-24 11:15:35 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37175
2025-04-24 11:15:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:35 [info] currentZPosition:0.116
2025-04-24 11:15:36 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:36 [debug] Diagnostics for board 50:
2025-04-24 11:15:36 [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 11:15:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:41 ago, cause: software
2025-04-24 11:15:36 [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 11:15:36 [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 11:15:36 [debug] Moves scheduled 14086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17857
Sync err accum 64, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:36 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16270, writes 0 timeouts 0
2025-04-24 11:15:36 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37179
2025-04-24 11:15:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:36 [info] currentZPosition:0.117
2025-04-24 11:15:38 [debug] Stopped at height 0.118 mm
2025-04-24 11:15:38 [debug] Diagnostics for board 50:
2025-04-24 11:15:38 [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 11:15:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:43 ago, cause: software
2025-04-24 11:15:38 [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 11:15:38 [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 11:15:38 [debug] Moves scheduled 14090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
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 4294936255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:38 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17029, writes 0 timeouts 0
2025-04-24 11:15:38 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:15:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:38 [info] currentZPosition:0.118
2025-04-24 11:15:39 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:39 [debug] Diagnostics for board 50:
2025-04-24 11:15:39 [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 11:15:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:17:44 ago, cause: software
2025-04-24 11:15:39 [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 11:15:39 [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 11:15:39 [debug] Moves scheduled 14094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 76, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:39 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17024, writes 0 timeouts 0
2025-04-24 11:15:39 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37175
2025-04-24 11:15:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:39 [info] currentZPosition:0.116
2025-04-24 11:15:40 [debug] Stopped at height 0.115 mm
2025-04-24 11:15:41 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:41 [debug] Diagnostics for board 50:
2025-04-24 11:15:41 [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 11:15:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:46 ago, cause: software
2025-04-24 11:15:41 [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 11:15:41 [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 11:15:41 [debug] Moves scheduled 14100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:41 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20874, writes 0 timeouts 0
2025-04-24 11:15:41 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37173
2025-04-24 11:15:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:41 [info] currentZPosition:0.117
2025-04-24 11:15:41 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:42 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:42 [debug] Diagnostics for board 50:
2025-04-24 11:15:42 [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 11:15:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:47 ago, cause: software
2025-04-24 11:15:42 [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 11:15:42 [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 11:15:42 [debug] Moves scheduled 14106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 92, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:42 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 20537, writes 0 timeouts 0
2025-04-24 11:15:42 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37175
2025-04-24 11:15:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:43 [info] currentZPosition:0.117
2025-04-24 11:15:44 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:44 [debug] Diagnostics for board 50:
2025-04-24 11:15:44 [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 11:15:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:49 ago, cause: software
2025-04-24 11:15:44 [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 11:15:44 [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 11:15:44 [debug] Moves scheduled 14110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=18292
Sync err accum 93, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:44 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17225, writes 0 timeouts 0
2025-04-24 11:15:44 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37177
2025-04-24 11:15:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:44 [info] currentZPosition:0.117
2025-04-24 11:15:45 [debug] Stopped at height 0.114 mm
2025-04-24 11:15:45 [debug] Diagnostics for board 50:
2025-04-24 11:15:45 [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 11:15:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:50 ago, cause: software
2025-04-24 11:15:45 [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 11:15:45 [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 11:15:45 [debug] Moves scheduled 14114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:45 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17543, writes 0 timeouts 0
2025-04-24 11:15:45 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36381/37176
2025-04-24 11:15:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4542, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:45 [info] currentZPosition:0.114
2025-04-24 11:15:46 [debug] Stopped at height 0.114 mm
2025-04-24 11:15:47 [debug] Stopped at height 0.118 mm
2025-04-24 11:15:47 [debug] Diagnostics for board 50:
2025-04-24 11:15:47 [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 11:15:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:52 ago, cause: software
2025-04-24 11:15:47 [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 11:15:47 [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 11:15:47 [debug] Moves scheduled 14120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 90, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:47 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 19847, writes 0 timeouts 0
2025-04-24 11:15:47 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36105/37176
2025-04-24 11:15:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:47 [info] currentZPosition:0.118
2025-04-24 11:15:47 [debug] Stopped at height 0.119 mm
2025-04-24 11:15:48 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:48 [debug] Diagnostics for board 50:
2025-04-24 11:15:48 [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 11:15:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:53 ago, cause: software
2025-04-24 11:15:48 [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 11:15:48 [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 11:15:48 [debug] Moves scheduled 14126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:48 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 20678, writes 0 timeouts 0
2025-04-24 11:15:48 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37177
2025-04-24 11:15:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:49 [info] currentZPosition:0.117
2025-04-24 11:15:50 [debug] Stopped at height 0.116 mm
2025-04-24 11:15:50 [debug] Diagnostics for board 50:
2025-04-24 11:15:50 [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 11:15:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:17:55 ago, cause: software
2025-04-24 11:15:50 [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 11:15:50 [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 11:15:50 [debug] Moves scheduled 14130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:50 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17483, writes 0 timeouts 0
2025-04-24 11:15:50 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36109/37175
2025-04-24 11:15:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:50 [info] currentZPosition:0.116
2025-04-24 11:15:51 [debug] Stopped at height 0.118 mm
2025-04-24 11:15:51 [debug] Diagnostics for board 50:
2025-04-24 11:15:51 [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 11:15:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:56 ago, cause: software
2025-04-24 11:15:51 [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 11:15:51 [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 11:15:51 [debug] Moves scheduled 14134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 62, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:51 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16250, writes 0 timeouts 0
2025-04-24 11:15:51 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37172
2025-04-24 11:15:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:51 [info] currentZPosition:0.118
2025-04-24 11:15:53 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:53 [debug] Diagnostics for board 50:
2025-04-24 11:15:53 [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 11:15:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:57 ago, cause: software
2025-04-24 11:15:53 [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 11:15:53 [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 11:15:53 [debug] Moves scheduled 14138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 71, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:53 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17258, writes 0 timeouts 0
2025-04-24 11:15:53 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36093/37176
2025-04-24 11:15:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:53 [info] currentZPosition:0.117
2025-04-24 11:15:54 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:54 [debug] Diagnostics for board 50:
2025-04-24 11:15:54 [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 11:15:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:17:59 ago, cause: software
2025-04-24 11:15:54 [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 11:15:54 [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 11:15:54 [debug] Moves scheduled 14142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:54 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16629, writes 0 timeouts 0
2025-04-24 11:15:54 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36283/37171
2025-04-24 11:15:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:54 [info] currentZPosition:0.117
2025-04-24 11:15:55 [debug] Stopped at height 0.118 mm
2025-04-24 11:15:55 [debug] Diagnostics for board 50:
2025-04-24 11:15:55 [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 11:15:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:00 ago, cause: software
2025-04-24 11:15:55 [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 11:15:55 [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 11:15:55 [debug] Moves scheduled 14146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 99, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:15:55 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17079, writes 0 timeouts 0
2025-04-24 11:15:55 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37172
2025-04-24 11:15:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:55 [info] currentZPosition:0.118
2025-04-24 11:15:57 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:57 [debug] Diagnostics for board 50:
2025-04-24 11:15:57 [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 11:15:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:01 ago, cause: software
2025-04-24 11:15:57 [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 11:15:57 [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 11:15:57 [debug] Moves scheduled 14150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17441
Sync err accum 110, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:57 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16975, writes 0 timeouts 0
2025-04-24 11:15:57 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37171
2025-04-24 11:15:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:57 [info] currentZPosition:0.117
2025-04-24 11:15:58 [debug] Stopped at height 0.118 mm
2025-04-24 11:15:58 [debug] Diagnostics for board 50:
2025-04-24 11:15:58 [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 11:15:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:03 ago, cause: software
2025-04-24 11:15:58 [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 11:15:58 [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 11:15:58 [debug] Moves scheduled 14154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17045
Sync err accum 118, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:15:58 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16809, writes 0 timeouts 0
2025-04-24 11:15:58 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37174
2025-04-24 11:15:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:58 [info] currentZPosition:0.118
2025-04-24 11:15:59 [debug] Stopped at height 0.117 mm
2025-04-24 11:15:59 [debug] Diagnostics for board 50:
2025-04-24 11:15:59 [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 11:15:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:04 ago, cause: software
2025-04-24 11:15:59 [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 11:15:59 [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 11:15:59 [debug] Moves scheduled 14158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17441
Sync err accum 124, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:15:59 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16718, writes 0 timeouts 0
2025-04-24 11:15:59 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37175
2025-04-24 11:15:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:15:59 [info] currentZPosition:0.117
2025-04-24 11:16:01 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:01 [debug] Diagnostics for board 50:
2025-04-24 11:16:01 [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 11:16:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:05 ago, cause: software
2025-04-24 11:16:01 [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 11:16:01 [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 11:16:01 [debug] Moves scheduled 14162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=509, max=17045
Sync err accum 126, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:01 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17383, writes 11 timeouts 1
2025-04-24 11:16:01 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37172
2025-04-24 11:16:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:01 [info] currentZPosition:0.117
2025-04-24 11:16:02 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:02 [debug] Diagnostics for board 50:
2025-04-24 11:16:02 [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 11:16:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:07 ago, cause: software
2025-04-24 11:16:02 [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 11:16:02 [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 11:16:02 [debug] Moves scheduled 14166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 119, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:02 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16415, writes 0 timeouts 0
2025-04-24 11:16:02 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36167/37176
2025-04-24 11:16:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:02 [info] currentZPosition:0.117
2025-04-24 11:16:03 [debug] Stopped at height 0.116 mm
2025-04-24 11:16:03 [debug] Diagnostics for board 50:
2025-04-24 11:16:03 [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 11:16:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:08 ago, cause: software
2025-04-24 11:16:03 [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 11:16:03 [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 11:16:03 [debug] Moves scheduled 14170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6818, max=17045
Sync err accum 113, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:03 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17659, writes 0 timeouts 0
2025-04-24 11:16:03 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36122/37177
2025-04-24 11:16:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:03 [info] currentZPosition:0.116
2025-04-24 11:16:04 [debug] Stopped at height 0.116 mm
2025-04-24 11:16:05 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:05 [debug] Diagnostics for board 50:
2025-04-24 11:16:05 [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 11:16:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:10 ago, cause: software
2025-04-24 11:16:05 [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 11:16:05 [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 11:16:05 [debug] Moves scheduled 14176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 101, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:05 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20119, writes 0 timeouts 0
2025-04-24 11:16:05 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37177
2025-04-24 11:16:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:05 [info] currentZPosition:0.117
2025-04-24 11:16:06 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:06 [debug] Diagnostics for board 50:
2025-04-24 11:16:06 [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 11:16:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:11 ago, cause: software
2025-04-24 11:16:06 [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 11:16:06 [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 11:16:06 [debug] Moves scheduled 14180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 88, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:06 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17126, writes 0 timeouts 0
2025-04-24 11:16:06 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37175
2025-04-24 11:16:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:06 [info] currentZPosition:0.117
2025-04-24 11:16:08 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:08 [debug] Diagnostics for board 50:
2025-04-24 11:16:08 [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 11:16:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:18:13 ago, cause: software
2025-04-24 11:16:08 [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 11:16:08 [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 11:16:08 [debug] Moves scheduled 14184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 74, peak jitter -3/-2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:16:08 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16663, writes 0 timeouts 0
2025-04-24 11:16:08 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37178
2025-04-24 11:16:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:08 [info] currentZPosition:0.117
2025-04-24 11:16:09 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:09 [debug] Diagnostics for board 50:
2025-04-24 11:16:09 [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 11:16:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:14 ago, cause: software
2025-04-24 11:16:09 [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 11:16:09 [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 11:16:09 [debug] Moves scheduled 14188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 60, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:09 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17079, writes 0 timeouts 0
2025-04-24 11:16:09 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37176
2025-04-24 11:16:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:09 [info] currentZPosition:0.117
2025-04-24 11:16:10 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:10 [debug] Diagnostics for board 50:
2025-04-24 11:16:10 [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 11:16:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:15 ago, cause: software
2025-04-24 11:16:10 [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 11:16:10 [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 11:16:10 [debug] Moves scheduled 14192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17441
Sync err accum 70, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:10 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16587, writes 0 timeouts 0
2025-04-24 11:16:10 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37175
2025-04-24 11:16:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:10 [info] currentZPosition:0.117
2025-04-24 11:16:12 [debug] Stopped at height 0.116 mm
2025-04-24 11:16:12 [debug] Diagnostics for board 50:
2025-04-24 11:16:12 [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 11:16:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:17 ago, cause: software
2025-04-24 11:16:12 [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 11:16:12 [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 11:16:12 [debug] Moves scheduled 14196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 89, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:12 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17415, writes 0 timeouts 0
2025-04-24 11:16:12 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37172
2025-04-24 11:16:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:12 [info] currentZPosition:0.116
2025-04-24 11:16:13 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:13 [debug] Diagnostics for board 50:
2025-04-24 11:16:13 [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 11:16:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:18 ago, cause: software
2025-04-24 11:16:13 [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 11:16:13 [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 11:16:13 [debug] Moves scheduled 14200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 101, peak jitter 2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:13 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16243, writes 0 timeouts 0
2025-04-24 11:16:13 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36156/37172
2025-04-24 11:16:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:13 [info] currentZPosition:0.117
2025-04-24 11:16:14 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:14 [debug] Diagnostics for board 50:
2025-04-24 11:16:14 [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 11:16:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:19 ago, cause: software
2025-04-24 11:16:14 [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 11:16:14 [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 11:16:14 [debug] Moves scheduled 14204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6756, max=17857
Sync err accum 111, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:14 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17075, writes 0 timeouts 0
2025-04-24 11:16:14 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37174
2025-04-24 11:16:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:15 [info] currentZPosition:0.117
2025-04-24 11:16:16 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:16 [debug] Diagnostics for board 50:
2025-04-24 11:16:16 [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 11:16:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:21 ago, cause: software
2025-04-24 11:16:16 [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 11:16:16 [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 11:16:16 [debug] Moves scheduled 14208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 120, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:16 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16643, writes 0 timeouts 0
2025-04-24 11:16:16 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36160/37176
2025-04-24 11:16:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:16 [info] currentZPosition:0.117
2025-04-24 11:16:17 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:17 [debug] Diagnostics for board 50:
2025-04-24 11:16:17 [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 11:16:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:22 ago, cause: software
2025-04-24 11:16:17 [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 11:16:17 [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 11:16:17 [debug] Moves scheduled 14212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 126, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:17 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17218, writes 0 timeouts 0
2025-04-24 11:16:17 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37173
2025-04-24 11:16:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:17 [info] currentZPosition:0.117
2025-04-24 11:16:19 [debug] Stopped at height 0.116 mm
2025-04-24 11:16:19 [debug] Diagnostics for board 50:
2025-04-24 11:16:19 [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 11:16:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:23 ago, cause: software
2025-04-24 11:16:19 [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 11:16:19 [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 11:16:19 [debug] Moves scheduled 14216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17857
Sync err accum 120, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:19 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17052, writes 0 timeouts 0
2025-04-24 11:16:19 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36167/37175
2025-04-24 11:16:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:19 [info] currentZPosition:0.116
2025-04-24 11:16:19 [debug] Stopped at height 0.114 mm
2025-04-24 11:16:20 [debug] Stopped at height 0.116 mm
2025-04-24 11:16:20 [debug] Diagnostics for board 50:
2025-04-24 11:16:20 [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 11:16:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:25 ago, cause: software
2025-04-24 11:16:20 [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 11:16:20 [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 11:16:20 [debug] Moves scheduled 14222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 98, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:20 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 21069, writes 0 timeouts 0
2025-04-24 11:16:20 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37179
2025-04-24 11:16:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:20 [info] currentZPosition:0.116
2025-04-24 11:16:22 [debug] Stopped at height 0.116 mm
2025-04-24 11:16:22 [debug] Diagnostics for board 50:
2025-04-24 11:16:22 [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 11:16:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:26 ago, cause: software
2025-04-24 11:16:22 [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 11:16:22 [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 11:16:22 [debug] Moves scheduled 14226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 84, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:22 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16741, writes 0 timeouts 0
2025-04-24 11:16:22 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36168/37178
2025-04-24 11:16:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:22 [info] currentZPosition:0.116
2025-04-24 11:16:23 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:23 [debug] Diagnostics for board 50:
2025-04-24 11:16:23 [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 11:16:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:28 ago, cause: software
2025-04-24 11:16:23 [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 11:16:23 [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 11:16:23 [debug] Moves scheduled 14230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 69, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:23 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16655, writes 0 timeouts 0
2025-04-24 11:16:23 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36114/37173
2025-04-24 11:16:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:23 [info] currentZPosition:0.117
2025-04-24 11:16:23 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:25 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:25 [debug] Diagnostics for board 50:
2025-04-24 11:16:25 [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 11:16:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:29 ago, cause: software
2025-04-24 11:16:25 [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 11:16:25 [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 11:16:25 [debug] Moves scheduled 14236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 65, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:25 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20671, writes 0 timeouts 0
2025-04-24 11:16:25 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36154/37180
2025-04-24 11:16:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:25 [info] currentZPosition:0.117
2025-04-24 11:16:26 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:26 [debug] Diagnostics for board 50:
2025-04-24 11:16:26 [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 11:16:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:31 ago, cause: software
2025-04-24 11:16:26 [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 11:16:26 [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 11:16:26 [debug] Moves scheduled 14240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 82, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:16:26 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17006, writes 0 timeouts 0
2025-04-24 11:16:26 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37175
2025-04-24 11:16:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:26 [info] currentZPosition:0.117
2025-04-24 11:16:27 [debug] Stopped at height 0.116 mm
2025-04-24 11:16:27 [debug] Diagnostics for board 50:
2025-04-24 11:16:27 [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 11:16:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:32 ago, cause: software
2025-04-24 11:16:27 [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 11:16:27 [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 11:16:27 [debug] Moves scheduled 14244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 95, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:16:27 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17068, writes 0 timeouts 0
2025-04-24 11:16:27 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36162/37174
2025-04-24 11:16:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:27 [info] currentZPosition:0.116
2025-04-24 11:16:28 [debug] Stopped at height 0.115 mm
2025-04-24 11:16:29 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:29 [debug] Diagnostics for board 50:
2025-04-24 11:16:29 [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 11:16:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:34 ago, cause: software
2025-04-24 11:16:29 [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 11:16:29 [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 11:16:29 [debug] Moves scheduled 14250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=18292
Sync err accum 107, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:29 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20637, writes 0 timeouts 0
2025-04-24 11:16:29 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37175
2025-04-24 11:16:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:29 [info] currentZPosition:0.117
2025-04-24 11:16:29 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:31 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:31 [debug] Diagnostics for board 50:
2025-04-24 11:16:31 [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 11:16:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:35 ago, cause: software
2025-04-24 11:16:31 [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 11:16:31 [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 11:16:31 [debug] Moves scheduled 14256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=491, max=17045
Sync err accum 119, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:16:31 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20183, writes 11 timeouts 1
2025-04-24 11:16:31 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37174
2025-04-24 11:16:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:31 [info] currentZPosition:0.118
2025-04-24 11:16:32 [debug] Stopped at height 0.119 mm
2025-04-24 11:16:32 [debug] Diagnostics for board 50:
2025-04-24 11:16:32 [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 11:16:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:37 ago, cause: software
2025-04-24 11:16:32 [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 11:16:32 [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 11:16:32 [debug] Moves scheduled 14260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 126, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:32 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16895, writes 0 timeouts 0
2025-04-24 11:16:32 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36094/37173
2025-04-24 11:16:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 805
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:32 [info] currentZPosition:0.119
2025-04-24 11:16:33 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:33 [debug] Diagnostics for board 50:
2025-04-24 11:16:33 [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 11:16:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:38 ago, cause: software
2025-04-24 11:16:33 [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 11:16:33 [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 11:16:33 [debug] Moves scheduled 14264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 123, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:33 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17080, writes 0 timeouts 0
2025-04-24 11:16:33 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37176
2025-04-24 11:16:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:33 [info] currentZPosition:0.117
2025-04-24 11:16:34 [debug] Stopped at height 0.119 mm
2025-04-24 11:16:35 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:35 [debug] Diagnostics for board 50:
2025-04-24 11:16:35 [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 11:16:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:40 ago, cause: software
2025-04-24 11:16:35 [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 11:16:35 [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 11:16:35 [debug] Moves scheduled 14270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 109, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:35 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20799, writes 0 timeouts 0
2025-04-24 11:16:35 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37177
2025-04-24 11:16:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:35 [info] currentZPosition:0.118
2025-04-24 11:16:35 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:37 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:37 [debug] Diagnostics for board 50:
2025-04-24 11:16:37 [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 11:16:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:41 ago, cause: software
2025-04-24 11:16:37 [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 11:16:37 [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 11:16:37 [debug] Moves scheduled 14276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 90, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:37 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20558, writes 0 timeouts 0
2025-04-24 11:16:37 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36165/37178
2025-04-24 11:16:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:37 [info] currentZPosition:0.118
2025-04-24 11:16:38 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:38 [debug] Diagnostics for board 50:
2025-04-24 11:16:38 [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 11:16:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:43 ago, cause: software
2025-04-24 11:16:38 [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 11:16:38 [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 11:16:38 [debug] Moves scheduled 14280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=18292
Sync err accum 73, peak jitter -3/-2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:38 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17181, writes 0 timeouts 0
2025-04-24 11:16:38 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37176
2025-04-24 11:16:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:38 [info] currentZPosition:0.118
2025-04-24 11:16:39 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:39 [debug] Diagnostics for board 50:
2025-04-24 11:16:39 [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 11:16:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:44 ago, cause: software
2025-04-24 11:16:39 [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 11:16:39 [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 11:16:39 [debug] Moves scheduled 14284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 60, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:39 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16355, writes 0 timeouts 0
2025-04-24 11:16:39 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36161/37177
2025-04-24 11:16:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:39 [info] currentZPosition:0.118
2025-04-24 11:16:41 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:41 [debug] Diagnostics for board 50:
2025-04-24 11:16:41 [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 11:16:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:45 ago, cause: software
2025-04-24 11:16:41 [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 11:16:41 [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 11:16:41 [debug] Moves scheduled 14288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7075, max=17857
Sync err accum 70, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:41 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17235, writes 0 timeouts 0
2025-04-24 11:16:41 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37176
2025-04-24 11:16:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:41 [info] currentZPosition:0.118
2025-04-24 11:16:42 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:42 [debug] Diagnostics for board 50:
2025-04-24 11:16:42 [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 11:16:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:47 ago, cause: software
2025-04-24 11:16:42 [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 11:16:42 [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 11:16:42 [debug] Moves scheduled 14292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 88, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:16:42 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16884, writes 0 timeouts 0
2025-04-24 11:16:42 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36164/37172
2025-04-24 11:16:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:42 [info] currentZPosition:0.117
2025-04-24 11:16:43 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:43 [debug] Diagnostics for board 50:
2025-04-24 11:16:43 [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 11:16:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:48 ago, cause: software
2025-04-24 11:16:43 [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 11:16:43 [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 11:16:43 [debug] Moves scheduled 14296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 100, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:43 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16860, writes 0 timeouts 0
2025-04-24 11:16:43 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36106/37175
2025-04-24 11:16:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:43 [info] currentZPosition:0.118
2025-04-24 11:16:45 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:45 [debug] Diagnostics for board 50:
2025-04-24 11:16:45 [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 11:16:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:50 ago, cause: software
2025-04-24 11:16:45 [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 11:16:45 [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 11:16:45 [debug] Moves scheduled 14300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 108, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:45 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16660, writes 0 timeouts 0
2025-04-24 11:16:45 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37175
2025-04-24 11:16:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:45 [info] currentZPosition:0.118
2025-04-24 11:16:46 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:46 [debug] Diagnostics for board 50:
2025-04-24 11:16:46 [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 11:16:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:51 ago, cause: software
2025-04-24 11:16:46 [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 11:16:46 [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 11:16:46 [debug] Moves scheduled 14304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=110, frequency (Hz): min=6578, max=17045
Sync err accum 118, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294928684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:46 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17146, writes 0 timeouts 0
2025-04-24 11:16:46 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37177
2025-04-24 11:16:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:46 [info] currentZPosition:0.118
2025-04-24 11:16:47 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:47 [debug] Diagnostics for board 50:
2025-04-24 11:16:47 [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 11:16:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:52 ago, cause: software
2025-04-24 11:16:47 [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 11:16:47 [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 11:16:47 [debug] Moves scheduled 14308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 122, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:47 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16774, writes 0 timeouts 0
2025-04-24 11:16:47 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36286/37174
2025-04-24 11:16:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:47 [info] currentZPosition:0.118
2025-04-24 11:16:49 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:49 [debug] Diagnostics for board 50:
2025-04-24 11:16:49 [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 11:16:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:54 ago, cause: software
2025-04-24 11:16:49 [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 11:16:49 [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 11:16:49 [debug] Moves scheduled 14312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17857
Sync err accum 126, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:49 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16943, writes 0 timeouts 0
2025-04-24 11:16:49 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37177
2025-04-24 11:16:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:49 [info] currentZPosition:0.118
2025-04-24 11:16:50 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:50 [debug] Diagnostics for board 50:
2025-04-24 11:16:50 [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 11:16:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:55 ago, cause: software
2025-04-24 11:16:50 [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 11:16:50 [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 11:16:50 [debug] Moves scheduled 14316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6637, max=18292
Sync err accum 125, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:50 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16962, writes 0 timeouts 0
2025-04-24 11:16:50 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37176
2025-04-24 11:16:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:50 [info] currentZPosition:0.117
2025-04-24 11:16:51 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:51 [debug] Diagnostics for board 50:
2025-04-24 11:16:51 [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 11:16:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:56 ago, cause: software
2025-04-24 11:16:51 [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 11:16:51 [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 11:16:51 [debug] Moves scheduled 14320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=690, max=17045
Sync err accum 123, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:51 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17095, writes 11 timeouts 1
2025-04-24 11:16:51 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 11:16:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:52 [info] currentZPosition:0.118
2025-04-24 11:16:53 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:53 [debug] Diagnostics for board 50:
2025-04-24 11:16:53 [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 11:16:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:58 ago, cause: software
2025-04-24 11:16:53 [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 11:16:53 [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 11:16:53 [debug] Moves scheduled 14324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6637, max=17045
Sync err accum 123, peak jitter 0/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:16:53 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16420, writes 0 timeouts 0
2025-04-24 11:16:53 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36403/37174
2025-04-24 11:16:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:53 [info] currentZPosition:0.118
2025-04-24 11:16:54 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:54 [debug] Diagnostics for board 50:
2025-04-24 11:16:54 [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 11:16:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:18:59 ago, cause: software
2025-04-24 11:16:54 [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 11:16:54 [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 11:16:54 [debug] Moves scheduled 14328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 117, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:54 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17488, writes 0 timeouts 0
2025-04-24 11:16:54 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37175
2025-04-24 11:16:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:54 [info] currentZPosition:0.117
2025-04-24 11:16:56 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:56 [debug] Diagnostics for board 50:
2025-04-24 11:16:56 [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 11:16:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:00 ago, cause: software
2025-04-24 11:16:56 [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 11:16:56 [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 11:16:56 [debug] Moves scheduled 14332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 110, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:16:56 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16531, writes 0 timeouts 0
2025-04-24 11:16:56 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37171
2025-04-24 11:16:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:56 [info] currentZPosition:0.118
2025-04-24 11:16:57 [debug] Stopped at height 0.117 mm
2025-04-24 11:16:57 [debug] Diagnostics for board 50:
2025-04-24 11:16:57 [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 11:16:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:19:02 ago, cause: software
2025-04-24 11:16:57 [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 11:16:57 [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 11:16:57 [debug] Moves scheduled 14336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294928803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:16:57 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17355, writes 0 timeouts 0
2025-04-24 11:16:57 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36114/37178
2025-04-24 11:16:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:57 [info] currentZPosition:0.117
2025-04-24 11:16:58 [debug] Stopped at height 0.118 mm
2025-04-24 11:16:58 [debug] Diagnostics for board 50:
2025-04-24 11:16:58 [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 11:16:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:03 ago, cause: software
2025-04-24 11:16:58 [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 11:16:58 [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 11:16:58 [debug] Moves scheduled 14340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 88, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:16:58 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16347, writes 0 timeouts 0
2025-04-24 11:16:58 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36405/37176
2025-04-24 11:16:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:16:58 [info] currentZPosition:0.118
2025-04-24 11:17:00 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:00 [debug] Diagnostics for board 50:
2025-04-24 11:17:00 [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 11:17:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:04 ago, cause: software
2025-04-24 11:17:00 [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 11:17:00 [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 11:17:00 [debug] Moves scheduled 14344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:00 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17191, writes 0 timeouts 0
2025-04-24 11:17:00 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37178
2025-04-24 11:17:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:00 [info] currentZPosition:0.118
2025-04-24 11:17:01 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:01 [debug] Diagnostics for board 50:
2025-04-24 11:17:01 [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 11:17:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:06 ago, cause: software
2025-04-24 11:17:01 [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 11:17:01 [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 11:17:01 [debug] Moves scheduled 14348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:01 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16592, writes 0 timeouts 0
2025-04-24 11:17:01 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37178
2025-04-24 11:17:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:01 [info] currentZPosition:0.118
2025-04-24 11:17:02 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:02 [debug] Diagnostics for board 50:
2025-04-24 11:17:02 [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 11:17:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:07 ago, cause: software
2025-04-24 11:17:02 [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 11:17:02 [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 11:17:02 [debug] Moves scheduled 14352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 67, peak jitter -2/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:02 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17239, writes 0 timeouts 0
2025-04-24 11:17:02 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37175
2025-04-24 11:17:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:02 [info] currentZPosition:0.118
2025-04-24 11:17:04 [debug] Stopped at height 0.117 mm
2025-04-24 11:17:04 [debug] Diagnostics for board 50:
2025-04-24 11:17:04 [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 11:17:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:08 ago, cause: software
2025-04-24 11:17:04 [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 11:17:04 [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 11:17:04 [debug] Moves scheduled 14356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:04 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16778, writes 0 timeouts 0
2025-04-24 11:17:04 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36397/37174
2025-04-24 11:17:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:04 [info] currentZPosition:0.117
2025-04-24 11:17:05 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:05 [debug] Diagnostics for board 50:
2025-04-24 11:17:05 [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 11:17:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:10 ago, cause: software
2025-04-24 11:17:05 [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 11:17:05 [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 11:17:05 [debug] Moves scheduled 14360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:05 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16887, writes 0 timeouts 0
2025-04-24 11:17:05 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37170
2025-04-24 11:17:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:05 [info] currentZPosition:0.118
2025-04-24 11:17:06 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:06 [debug] Diagnostics for board 50:
2025-04-24 11:17:06 [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 11:17:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:11 ago, cause: software
2025-04-24 11:17:06 [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 11:17:06 [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 11:17:06 [debug] Moves scheduled 14364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=7075, max=18292
Sync err accum 95, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:06 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16652, writes 0 timeouts 0
2025-04-24 11:17:06 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36397/37174
2025-04-24 11:17:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:06 [info] currentZPosition:0.118
2025-04-24 11:17:08 [debug] Stopped at height 0.116 mm
2025-04-24 11:17:08 [debug] Diagnostics for board 50:
2025-04-24 11:17:08 [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 11:17:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:13 ago, cause: software
2025-04-24 11:17:08 [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 11:17:08 [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 11:17:08 [debug] Moves scheduled 14368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5905, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:08 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17747, writes 0 timeouts 0
2025-04-24 11:17:08 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37172
2025-04-24 11:17:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:08 [info] currentZPosition:0.116
2025-04-24 11:17:08 [debug] Stopped at height 0.115 mm
2025-04-24 11:17:09 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:09 [debug] Diagnostics for board 50:
2025-04-24 11:17:09 [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 11:17:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:14 ago, cause: software
2025-04-24 11:17:09 [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 11:17:09 [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 11:17:09 [debug] Moves scheduled 14374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=5905, max=17857
Sync err accum 107, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:17:09 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20196, writes 0 timeouts 0
2025-04-24 11:17:09 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36404/37175
2025-04-24 11:17:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:09 [info] currentZPosition:0.118
2025-04-24 11:17:10 [debug] Stopped at height 0.116 mm
2025-04-24 11:17:11 [debug] Stopped at height 0.117 mm
2025-04-24 11:17:11 [debug] Diagnostics for board 50:
2025-04-24 11:17:11 [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 11:17:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:16 ago, cause: software
2025-04-24 11:17:11 [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 11:17:11 [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 11:17:11 [debug] Moves scheduled 14380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:11 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 21253, writes 0 timeouts 0
2025-04-24 11:17:11 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 11:17:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:11 [info] currentZPosition:0.117
2025-04-24 11:17:12 [debug] Stopped at height 0.115 mm
2025-04-24 11:17:13 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:13 [debug] Diagnostics for board 50:
2025-04-24 11:17:13 [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 11:17:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:17 ago, cause: software
2025-04-24 11:17:13 [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 11:17:13 [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 11:17:13 [debug] Moves scheduled 14386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:13 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20137, writes 0 timeouts 0
2025-04-24 11:17:13 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36394/37174
2025-04-24 11:17:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:13 [info] currentZPosition:0.118
2025-04-24 11:17:13 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:14 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:14 [debug] Diagnostics for board 50:
2025-04-24 11:17:14 [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 11:17:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:19 ago, cause: software
2025-04-24 11:17:14 [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 11:17:14 [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 11:17:14 [debug] Moves scheduled 14392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6756, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:17:14 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 21091, writes 0 timeouts 0
2025-04-24 11:17:14 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37176
2025-04-24 11:17:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:14 [info] currentZPosition:0.119
2025-04-24 11:17:16 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:16 [debug] Diagnostics for board 50:
2025-04-24 11:17:16 [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 11:17:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:20 ago, cause: software
2025-04-24 11:17:16 [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 11:17:16 [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 11:17:16 [debug] Moves scheduled 14396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:16 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16475, writes 0 timeouts 0
2025-04-24 11:17:16 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36405/37172
2025-04-24 11:17:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:16 [info] currentZPosition:0.119
2025-04-24 11:17:17 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:17 [debug] Diagnostics for board 50:
2025-04-24 11:17:17 [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 11:17:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:22 ago, cause: software
2025-04-24 11:17:17 [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 11:17:17 [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 11:17:17 [debug] Moves scheduled 14400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=18292
Sync err accum 83, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:17 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17380, writes 0 timeouts 0
2025-04-24 11:17:17 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37175
2025-04-24 11:17:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:17 [info] currentZPosition:0.119
2025-04-24 11:17:18 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:18 [debug] Diagnostics for board 50:
2025-04-24 11:17:18 [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 11:17:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:23 ago, cause: software
2025-04-24 11:17:18 [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 11:17:18 [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 11:17:18 [debug] Moves scheduled 14404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:17:18 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16739, writes 0 timeouts 0
2025-04-24 11:17:18 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37175
2025-04-24 11:17:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:18 [info] currentZPosition:0.118
2025-04-24 11:17:20 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:20 [debug] Diagnostics for board 50:
2025-04-24 11:17:20 [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 11:17:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:25 ago, cause: software
2025-04-24 11:17:20 [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 11:17:20 [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 11:17:20 [debug] Moves scheduled 14408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
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 4294935555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:20 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17118, writes 0 timeouts 0
2025-04-24 11:17:20 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37177
2025-04-24 11:17:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:20 [info] currentZPosition:0.118
2025-04-24 11:17:21 [debug] Stopped at height 0.120 mm
2025-04-24 11:17:21 [debug] Diagnostics for board 50:
2025-04-24 11:17:21 [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 11:17:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:26 ago, cause: software
2025-04-24 11:17:21 [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 11:17:21 [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 11:17:21 [debug] Moves scheduled 14412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=18292
Sync err accum 71, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:21 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16261, writes 0 timeouts 0
2025-04-24 11:17:21 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36381/37176
2025-04-24 11:17:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:21 [info] currentZPosition:0.120
2025-04-24 11:17:22 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:22 [debug] Diagnostics for board 50:
2025-04-24 11:17:22 [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 11:17:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:27 ago, cause: software
2025-04-24 11:17:22 [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 11:17:22 [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 11:17:22 [debug] Moves scheduled 14416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:22 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17569, writes 0 timeouts 0
2025-04-24 11:17:22 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37174
2025-04-24 11:17:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:23 [info] currentZPosition:0.118
2025-04-24 11:17:24 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:24 [debug] Diagnostics for board 50:
2025-04-24 11:17:24 [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 11:17:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:29 ago, cause: software
2025-04-24 11:17:24 [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 11:17:24 [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 11:17:24 [debug] Moves scheduled 14420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 86, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:24 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16633, writes 0 timeouts 0
2025-04-24 11:17:24 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37173
2025-04-24 11:17:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:24 [info] currentZPosition:0.118
2025-04-24 11:17:25 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:25 [debug] Diagnostics for board 50:
2025-04-24 11:17:25 [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 11:17:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:30 ago, cause: software
2025-04-24 11:17:25 [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 11:17:25 [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 11:17:25 [debug] Moves scheduled 14424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:25 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16983, writes 0 timeouts 0
2025-04-24 11:17:25 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37174
2025-04-24 11:17:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:25 [info] currentZPosition:0.119
2025-04-24 11:17:27 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:27 [debug] Diagnostics for board 50:
2025-04-24 11:17:27 [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 11:17:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:31 ago, cause: software
2025-04-24 11:17:27 [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 11:17:27 [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 11:17:27 [debug] Moves scheduled 14428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:27 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16980, writes 0 timeouts 0
2025-04-24 11:17:27 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37176
2025-04-24 11:17:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:27 [info] currentZPosition:0.118
2025-04-24 11:17:28 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:28 [debug] Diagnostics for board 50:
2025-04-24 11:17:28 [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 11:17:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:33 ago, cause: software
2025-04-24 11:17:28 [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 11:17:28 [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 11:17:28 [debug] Moves scheduled 14432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:28 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16840, writes 0 timeouts 0
2025-04-24 11:17:28 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36104/37176
2025-04-24 11:17:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:28 [info] currentZPosition:0.119
2025-04-24 11:17:29 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:29 [debug] Diagnostics for board 50:
2025-04-24 11:17:29 [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 11:17:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:34 ago, cause: software
2025-04-24 11:17:29 [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 11:17:29 [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 11:17:29 [debug] Moves scheduled 14436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=18292
Sync err accum 97, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:29 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16750, writes 0 timeouts 0
2025-04-24 11:17:29 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36405/37177
2025-04-24 11:17:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:29 [info] currentZPosition:0.119
2025-04-24 11:17:31 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:31 [debug] Diagnostics for board 50:
2025-04-24 11:17:31 [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 11:17:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:35 ago, cause: software
2025-04-24 11:17:31 [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 11:17:31 [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 11:17:31 [debug] Moves scheduled 14440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:31 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17364, writes 0 timeouts 0
2025-04-24 11:17:31 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37178
2025-04-24 11:17:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:31 [info] currentZPosition:0.118
2025-04-24 11:17:32 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:32 [debug] Diagnostics for board 50:
2025-04-24 11:17:32 [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 11:17:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:37 ago, cause: software
2025-04-24 11:17:32 [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 11:17:32 [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 11:17:32 [debug] Moves scheduled 14444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6696, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:32 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16324, writes 0 timeouts 0
2025-04-24 11:17:32 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37178
2025-04-24 11:17:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:32 [info] currentZPosition:0.119
2025-04-24 11:17:33 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:33 [debug] Diagnostics for board 50:
2025-04-24 11:17:33 [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 11:17:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:38 ago, cause: software
2025-04-24 11:17:33 [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 11:17:33 [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 11:17:33 [debug] Moves scheduled 14448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 82, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:33 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17497, writes 0 timeouts 0
2025-04-24 11:17:33 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 11:17:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:33 [info] currentZPosition:0.118
2025-04-24 11:17:35 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:35 [debug] Diagnostics for board 50:
2025-04-24 11:17:35 [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 11:17:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:39 ago, cause: software
2025-04-24 11:17:35 [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 11:17:35 [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 11:17:35 [debug] Moves scheduled 14452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 72, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:17:35 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16203, writes 0 timeouts 0
2025-04-24 11:17:35 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37178
2025-04-24 11:17:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:35 [info] currentZPosition:0.119
2025-04-24 11:17:35 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:36 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:36 [debug] Diagnostics for board 50:
2025-04-24 11:17:36 [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 11:17:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:41 ago, cause: software
2025-04-24 11:17:36 [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 11:17:36 [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 11:17:36 [debug] Moves scheduled 14458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:36 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 21170, writes 0 timeouts 0
2025-04-24 11:17:36 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37176
2025-04-24 11:17:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:36 [info] currentZPosition:0.119
2025-04-24 11:17:38 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:38 [debug] Diagnostics for board 50:
2025-04-24 11:17:38 [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 11:17:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:42 ago, cause: software
2025-04-24 11:17:38 [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 11:17:38 [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 11:17:38 [debug] Moves scheduled 14462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:38 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16604, writes 0 timeouts 0
2025-04-24 11:17:38 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37175
2025-04-24 11:17:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:38 [info] currentZPosition:0.119
2025-04-24 11:17:39 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:39 [debug] Diagnostics for board 50:
2025-04-24 11:17:39 [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 11:17:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:44 ago, cause: software
2025-04-24 11:17:39 [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 11:17:39 [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 11:17:39 [debug] Moves scheduled 14466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5952, max=17045
Sync err accum 85, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:39 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17001, writes 0 timeouts 0
2025-04-24 11:17:39 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36093/37174
2025-04-24 11:17:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:39 [info] currentZPosition:0.119
2025-04-24 11:17:40 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:40 [debug] Diagnostics for board 50:
2025-04-24 11:17:40 [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 11:17:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:45 ago, cause: software
2025-04-24 11:17:40 [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 11:17:40 [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 11:17:40 [debug] Moves scheduled 14470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:40 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16653, writes 0 timeouts 0
2025-04-24 11:17:40 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36270/37175
2025-04-24 11:17:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:40 [info] currentZPosition:0.119
2025-04-24 11:17:42 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:42 [debug] Diagnostics for board 50:
2025-04-24 11:17:42 [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 11:17:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:47 ago, cause: software
2025-04-24 11:17:42 [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 11:17:42 [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 11:17:42 [debug] Moves scheduled 14474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:42 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17090, writes 0 timeouts 0
2025-04-24 11:17:42 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37176
2025-04-24 11:17:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:42 [info] currentZPosition:0.119
2025-04-24 11:17:43 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:43 [debug] Diagnostics for board 50:
2025-04-24 11:17:43 [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 11:17:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:48 ago, cause: software
2025-04-24 11:17:43 [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 11:17:43 [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 11:17:43 [debug] Moves scheduled 14478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:43 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16748, writes 0 timeouts 0
2025-04-24 11:17:43 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37175
2025-04-24 11:17:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:43 [info] currentZPosition:0.119
2025-04-24 11:17:44 [debug] Stopped at height 0.120 mm
2025-04-24 11:17:44 [debug] Diagnostics for board 50:
2025-04-24 11:17:44 [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 11:17:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:49 ago, cause: software
2025-04-24 11:17:44 [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 11:17:44 [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 11:17:44 [debug] Moves scheduled 14482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294934648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:44 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17014, writes 0 timeouts 0
2025-04-24 11:17:44 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36095/37177
2025-04-24 11:17:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:44 [info] currentZPosition:0.120
2025-04-24 11:17:46 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:46 [debug] Diagnostics for board 50:
2025-04-24 11:17:46 [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 11:17:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:51 ago, cause: software
2025-04-24 11:17:46 [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 11:17:46 [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 11:17:46 [debug] Moves scheduled 14486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:46 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17145, writes 0 timeouts 0
2025-04-24 11:17:46 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37172
2025-04-24 11:17:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:46 [info] currentZPosition:0.118
2025-04-24 11:17:46 [debug] Stopped at height 0.117 mm
2025-04-24 11:17:47 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:47 [debug] Diagnostics for board 50:
2025-04-24 11:17:47 [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 11:17:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:52 ago, cause: software
2025-04-24 11:17:47 [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 11:17:47 [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 11:17:47 [debug] Moves scheduled 14492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 97, peak jitter -2/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:47 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 21295, writes 0 timeouts 0
2025-04-24 11:17:47 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36103/37175
2025-04-24 11:17:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:48 [info] currentZPosition:0.118
2025-04-24 11:17:49 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:49 [debug] Diagnostics for board 50:
2025-04-24 11:17:49 [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 11:17:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:54 ago, cause: software
2025-04-24 11:17:49 [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 11:17:49 [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 11:17:49 [debug] Moves scheduled 14496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:49 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16334, writes 0 timeouts 0
2025-04-24 11:17:49 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37177
2025-04-24 11:17:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:49 [info] currentZPosition:0.118
2025-04-24 11:17:50 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:50 [debug] Diagnostics for board 50:
2025-04-24 11:17:50 [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 11:17:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:55 ago, cause: software
2025-04-24 11:17:50 [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 11:17:50 [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 11:17:50 [debug] Moves scheduled 14500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 81, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:17:50 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17307, writes 0 timeouts 0
2025-04-24 11:17:50 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37178
2025-04-24 11:17:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:50 [info] currentZPosition:0.118
2025-04-24 11:17:52 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:52 [debug] Diagnostics for board 50:
2025-04-24 11:17:52 [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 11:17:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:56 ago, cause: software
2025-04-24 11:17:52 [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 11:17:52 [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 11:17:52 [debug] Moves scheduled 14504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 71, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:17:52 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16603, writes 0 timeouts 0
2025-04-24 11:17:52 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36153/37177
2025-04-24 11:17:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:52 [info] currentZPosition:0.118
2025-04-24 11:17:53 [debug] Stopped at height 0.120 mm
2025-04-24 11:17:53 [debug] Diagnostics for board 50:
2025-04-24 11:17:53 [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 11:17:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:58 ago, cause: software
2025-04-24 11:17:53 [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 11:17:53 [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 11:17:53 [debug] Moves scheduled 14508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:53 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16680, writes 0 timeouts 0
2025-04-24 11:17:53 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37179
2025-04-24 11:17:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:53 [info] currentZPosition:0.120
2025-04-24 11:17:53 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:55 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:55 [debug] Diagnostics for board 50:
2025-04-24 11:17:55 [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 11:17:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:19:59 ago, cause: software
2025-04-24 11:17:55 [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 11:17:55 [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 11:17:55 [debug] Moves scheduled 14514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:55 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20692, writes 0 timeouts 0
2025-04-24 11:17:55 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36157/37176
2025-04-24 11:17:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:55 [info] currentZPosition:0.119
2025-04-24 11:17:55 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:56 [debug] Stopped at height 0.119 mm
2025-04-24 11:17:56 [debug] Diagnostics for board 50:
2025-04-24 11:17:56 [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 11:17:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:01 ago, cause: software
2025-04-24 11:17:56 [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 11:17:56 [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 11:17:56 [debug] Moves scheduled 14520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:17:56 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 21108, writes 0 timeouts 0
2025-04-24 11:17:56 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37176
2025-04-24 11:17:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:56 [info] currentZPosition:0.119
2025-04-24 11:17:58 [debug] Stopped at height 0.120 mm
2025-04-24 11:17:58 [debug] Diagnostics for board 50:
2025-04-24 11:17:58 [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 11:17:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:02 ago, cause: software
2025-04-24 11:17:58 [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 11:17:58 [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 11:17:58 [debug] Moves scheduled 14524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:58 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16356, writes 0 timeouts 0
2025-04-24 11:17:58 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37173
2025-04-24 11:17:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:58 [info] currentZPosition:0.120
2025-04-24 11:17:59 [debug] Stopped at height 0.118 mm
2025-04-24 11:17:59 [debug] Diagnostics for board 50:
2025-04-24 11:17:59 [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 11:17:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:04 ago, cause: software
2025-04-24 11:17:59 [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 11:17:59 [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 11:17:59 [debug] Moves scheduled 14528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:17:59 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17611, writes 0 timeouts 0
2025-04-24 11:17:59 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36097/37176
2025-04-24 11:17:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8909, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:17:59 [info] currentZPosition:0.118
2025-04-24 11:17:59 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:01 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:01 [debug] Diagnostics for board 50:
2025-04-24 11:18:01 [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 11:18:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:05 ago, cause: software
2025-04-24 11:18:01 [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 11:18:01 [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 11:18:01 [debug] Moves scheduled 14534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:01 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20207, writes 0 timeouts 0
2025-04-24 11:18:01 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37177
2025-04-24 11:18:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:01 [info] currentZPosition:0.119
2025-04-24 11:18:02 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:02 [debug] Diagnostics for board 50:
2025-04-24 11:18:02 [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 11:18:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:07 ago, cause: software
2025-04-24 11:18:02 [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 11:18:02 [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 11:18:02 [debug] Moves scheduled 14538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 73, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:18:02 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17243, writes 0 timeouts 0
2025-04-24 11:18:02 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37175
2025-04-24 11:18:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:02 [info] currentZPosition:0.119
2025-04-24 11:18:03 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:03 [debug] Diagnostics for board 50:
2025-04-24 11:18:03 [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 11:18:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:08 ago, cause: software
2025-04-24 11:18:03 [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 11:18:03 [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 11:18:03 [debug] Moves scheduled 14542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:18:03 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16397, writes 0 timeouts 0
2025-04-24 11:18:03 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37174
2025-04-24 11:18:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:03 [info] currentZPosition:0.120
2025-04-24 11:18:05 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:05 [debug] Diagnostics for board 50:
2025-04-24 11:18:05 [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 11:18:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:09 ago, cause: software
2025-04-24 11:18:05 [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 11:18:05 [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 11:18:05 [debug] Moves scheduled 14546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:18:05 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17058, writes 0 timeouts 0
2025-04-24 11:18:05 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 11:18:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:05 [info] currentZPosition:0.120
2025-04-24 11:18:06 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:06 [debug] Diagnostics for board 50:
2025-04-24 11:18:06 [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 11:18:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:11 ago, cause: software
2025-04-24 11:18:06 [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 11:18:06 [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 11:18:06 [debug] Moves scheduled 14550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 96, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:06 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16650, writes 0 timeouts 0
2025-04-24 11:18:06 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36162/37175
2025-04-24 11:18:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:06 [info] currentZPosition:0.120
2025-04-24 11:18:07 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:07 [debug] Diagnostics for board 50:
2025-04-24 11:18:07 [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 11:18:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:12 ago, cause: software
2025-04-24 11:18:07 [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 11:18:07 [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 11:18:07 [debug] Moves scheduled 14554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=18292
Sync err accum 100, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:07 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17199, writes 0 timeouts 0
2025-04-24 11:18:07 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37171
2025-04-24 11:18:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:07 [info] currentZPosition:0.119
2025-04-24 11:18:09 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:09 [debug] Diagnostics for board 50:
2025-04-24 11:18:09 [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 11:18:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:13 ago, cause: software
2025-04-24 11:18:09 [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 11:18:09 [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 11:18:09 [debug] Moves scheduled 14558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:09 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16594, writes 0 timeouts 0
2025-04-24 11:18:09 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37176
2025-04-24 11:18:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:09 [info] currentZPosition:0.120
2025-04-24 11:18:10 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:10 [debug] Diagnostics for board 50:
2025-04-24 11:18:10 [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 11:18:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:15 ago, cause: software
2025-04-24 11:18:10 [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 11:18:10 [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 11:18:10 [debug] Moves scheduled 14562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 103, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:10 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17217, writes 0 timeouts 0
2025-04-24 11:18:10 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37177
2025-04-24 11:18:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:10 [info] currentZPosition:0.119
2025-04-24 11:18:11 [debug] Stopped at height 0.118 mm
2025-04-24 11:18:11 [debug] Diagnostics for board 50:
2025-04-24 11:18:11 [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 11:18:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:16 ago, cause: software
2025-04-24 11:18:11 [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 11:18:11 [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 11:18:11 [debug] Moves scheduled 14566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:11 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16760, writes 0 timeouts 0
2025-04-24 11:18:11 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37175
2025-04-24 11:18:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:11 [info] currentZPosition:0.118
2025-04-24 11:18:13 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:13 [debug] Diagnostics for board 50:
2025-04-24 11:18:13 [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 11:18:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:18 ago, cause: software
2025-04-24 11:18:13 [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 11:18:13 [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 11:18:13 [debug] Moves scheduled 14570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:13 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16966, writes 0 timeouts 0
2025-04-24 11:18:13 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37176
2025-04-24 11:18:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:13 [info] currentZPosition:0.119
2025-04-24 11:18:14 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:14 [debug] Diagnostics for board 50:
2025-04-24 11:18:14 [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 11:18:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:19 ago, cause: software
2025-04-24 11:18:14 [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 11:18:14 [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 11:18:14 [debug] Moves scheduled 14574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294928822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:14 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16805, writes 0 timeouts 0
2025-04-24 11:18:14 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37178
2025-04-24 11:18:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:14 [info] currentZPosition:0.119
2025-04-24 11:18:15 [debug] Stopped at height 0.118 mm
2025-04-24 11:18:15 [debug] Diagnostics for board 50:
2025-04-24 11:18:15 [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 11:18:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:20 ago, cause: software
2025-04-24 11:18:15 [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 11:18:15 [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 11:18:15 [debug] Moves scheduled 14578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 76, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:15 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17466, writes 0 timeouts 0
2025-04-24 11:18:15 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36113/37175
2025-04-24 11:18:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:16 [info] currentZPosition:0.118
2025-04-24 11:18:17 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:17 [debug] Diagnostics for board 50:
2025-04-24 11:18:17 [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 11:18:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:20:22 ago, cause: software
2025-04-24 11:18:17 [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 11:18:17 [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 11:18:17 [debug] Moves scheduled 14582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=56, frequency (Hz): min=6696, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:17 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16058, writes 0 timeouts 0
2025-04-24 11:18:17 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36165/37170
2025-04-24 11:18:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:17 [info] currentZPosition:0.120
2025-04-24 11:18:17 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:18 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:18 [debug] Diagnostics for board 50:
2025-04-24 11:18:18 [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 11:18:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:23 ago, cause: software
2025-04-24 11:18:18 [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 11:18:18 [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 11:18:18 [debug] Moves scheduled 14588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 68, peak jitter -2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:18 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 21163, writes 0 timeouts 0
2025-04-24 11:18:18 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37175
2025-04-24 11:18:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:18 [info] currentZPosition:0.119
2025-04-24 11:18:20 [debug] Stopped at height 0.118 mm
2025-04-24 11:18:20 [debug] Diagnostics for board 50:
2025-04-24 11:18:20 [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 11:18:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:25 ago, cause: software
2025-04-24 11:18:20 [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 11:18:20 [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 11:18:20 [debug] Moves scheduled 14592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 84, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:20 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17065, writes 0 timeouts 0
2025-04-24 11:18:20 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37170
2025-04-24 11:18:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:20 [info] currentZPosition:0.118
2025-04-24 11:18:20 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:21 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:21 [debug] Diagnostics for board 50:
2025-04-24 11:18:21 [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 11:18:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:26 ago, cause: software
2025-04-24 11:18:21 [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 11:18:21 [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 11:18:21 [debug] Moves scheduled 14598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 97, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:18:21 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20724, writes 0 timeouts 0
2025-04-24 11:18:21 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37170
2025-04-24 11:18:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:22 [info] currentZPosition:0.119
2025-04-24 11:18:23 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:23 [debug] Diagnostics for board 50:
2025-04-24 11:18:23 [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 11:18:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:28 ago, cause: software
2025-04-24 11:18:23 [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 11:18:23 [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 11:18:23 [debug] Moves scheduled 14602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:23 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16480, writes 0 timeouts 0
2025-04-24 11:18:23 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37172
2025-04-24 11:18:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:23 [info] currentZPosition:0.120
2025-04-24 11:18:24 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:24 [debug] Diagnostics for board 50:
2025-04-24 11:18:24 [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 11:18:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:29 ago, cause: software
2025-04-24 11:18:24 [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 11:18:24 [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 11:18:24 [debug] Moves scheduled 14606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 115, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:24 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17196, writes 0 timeouts 0
2025-04-24 11:18:24 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 11:18:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:24 [info] currentZPosition:0.120
2025-04-24 11:18:25 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:25 [debug] Diagnostics for board 50:
2025-04-24 11:18:25 [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 11:18:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:30 ago, cause: software
2025-04-24 11:18:25 [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 11:18:25 [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 11:18:25 [debug] Moves scheduled 14610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 122, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:25 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16651, writes 0 timeouts 0
2025-04-24 11:18:25 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37173
2025-04-24 11:18:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:26 [info] currentZPosition:0.119
2025-04-24 11:18:27 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:27 [debug] Diagnostics for board 50:
2025-04-24 11:18:27 [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 11:18:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:32 ago, cause: software
2025-04-24 11:18:27 [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 11:18:27 [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 11:18:27 [debug] Moves scheduled 14614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 128, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:27 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17271, writes 0 timeouts 0
2025-04-24 11:18:27 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37175
2025-04-24 11:18:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:27 [info] currentZPosition:0.119
2025-04-24 11:18:28 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:28 [debug] Diagnostics for board 50:
2025-04-24 11:18:28 [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 11:18:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:33 ago, cause: software
2025-04-24 11:18:28 [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 11:18:28 [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 11:18:28 [debug] Moves scheduled 14618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 120, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:28 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16744, writes 0 timeouts 0
2025-04-24 11:18:28 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36168/37178
2025-04-24 11:18:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:28 [info] currentZPosition:0.119
2025-04-24 11:18:30 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:30 [debug] Diagnostics for board 50:
2025-04-24 11:18:30 [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 11:18:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:34 ago, cause: software
2025-04-24 11:18:30 [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 11:18:30 [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 11:18:30 [debug] Moves scheduled 14622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17441
Sync err accum 108, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:30 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16872, writes 0 timeouts 0
2025-04-24 11:18:30 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36093/37174
2025-04-24 11:18:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:30 [info] currentZPosition:0.120
2025-04-24 11:18:31 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:31 [debug] Diagnostics for board 50:
2025-04-24 11:18:31 [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 11:18:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:36 ago, cause: software
2025-04-24 11:18:31 [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 11:18:31 [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 11:18:31 [debug] Moves scheduled 14626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 93, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:31 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16481, writes 0 timeouts 0
2025-04-24 11:18:31 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36160/37171
2025-04-24 11:18:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:31 [info] currentZPosition:0.120
2025-04-24 11:18:32 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:32 [debug] Diagnostics for board 50:
2025-04-24 11:18:32 [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 11:18:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:37 ago, cause: software
2025-04-24 11:18:32 [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 11:18:32 [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 11:18:32 [debug] Moves scheduled 14630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 77, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:32 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17200, writes 0 timeouts 0
2025-04-24 11:18:32 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37178
2025-04-24 11:18:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:32 [info] currentZPosition:0.120
2025-04-24 11:18:34 [debug] Stopped at height 0.121 mm
2025-04-24 11:18:34 [debug] Diagnostics for board 50:
2025-04-24 11:18:34 [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 11:18:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:38 ago, cause: software
2025-04-24 11:18:34 [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 11:18:34 [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 11:18:34 [debug] Moves scheduled 14634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=7009, max=17045
Sync err accum 66, peak jitter -4/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:34 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16248, writes 0 timeouts 0
2025-04-24 11:18:34 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36281/37177
2025-04-24 11:18:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:34 [info] currentZPosition:0.121
2025-04-24 11:18:35 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:35 [debug] Diagnostics for board 50:
2025-04-24 11:18:35 [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 11:18:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:40 ago, cause: software
2025-04-24 11:18:35 [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 11:18:35 [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 11:18:35 [debug] Moves scheduled 14638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 68, peak jitter -3/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:35 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17677, writes 0 timeouts 0
2025-04-24 11:18:35 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36097/37179
2025-04-24 11:18:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:35 [info] currentZPosition:0.119
2025-04-24 11:18:35 [debug] Stopped at height 0.118 mm
2025-04-24 11:18:37 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:37 [debug] Diagnostics for board 50:
2025-04-24 11:18:37 [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 11:18:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:41 ago, cause: software
2025-04-24 11:18:37 [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 11:18:37 [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 11:18:37 [debug] Moves scheduled 14644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17857
Sync err accum 86, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:18:37 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20134, writes 0 timeouts 0
2025-04-24 11:18:37 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37174
2025-04-24 11:18:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:37 [info] currentZPosition:0.120
2025-04-24 11:18:37 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:38 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:38 [debug] Diagnostics for board 50:
2025-04-24 11:18:38 [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 11:18:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:43 ago, cause: software
2025-04-24 11:18:38 [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 11:18:38 [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 11:18:38 [debug] Moves scheduled 14650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 104, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:38 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 21063, writes 0 timeouts 0
2025-04-24 11:18:38 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37172
2025-04-24 11:18:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:38 [info] currentZPosition:0.120
2025-04-24 11:18:40 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:40 [debug] Diagnostics for board 50:
2025-04-24 11:18:40 [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 11:18:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:44 ago, cause: software
2025-04-24 11:18:40 [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 11:18:40 [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 11:18:40 [debug] Moves scheduled 14654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 112, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:40 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16566, writes 0 timeouts 0
2025-04-24 11:18:40 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36395/37174
2025-04-24 11:18:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:40 [info] currentZPosition:0.120
2025-04-24 11:18:41 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:41 [debug] Diagnostics for board 50:
2025-04-24 11:18:41 [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 11:18:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:46 ago, cause: software
2025-04-24 11:18:41 [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 11:18:41 [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 11:18:41 [debug] Moves scheduled 14658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=516, max=17045
Sync err accum 123, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:18:41 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17280, writes 11 timeouts 1
2025-04-24 11:18:41 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36102/37171
2025-04-24 11:18:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:41 [info] currentZPosition:0.120
2025-04-24 11:18:42 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:42 [debug] Diagnostics for board 50:
2025-04-24 11:18:42 [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 11:18:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:47 ago, cause: software
2025-04-24 11:18:42 [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 11:18:42 [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 11:18:42 [debug] Moves scheduled 14662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7009, max=17045
Sync err accum 126, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:42 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16468, writes 0 timeouts 0
2025-04-24 11:18:42 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36393/37173
2025-04-24 11:18:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:42 [info] currentZPosition:0.120
2025-04-24 11:18:44 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:44 [debug] Diagnostics for board 50:
2025-04-24 11:18:44 [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 11:18:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:48 ago, cause: software
2025-04-24 11:18:44 [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 11:18:44 [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 11:18:44 [debug] Moves scheduled 14666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 119, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:44 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17183, writes 0 timeouts 0
2025-04-24 11:18:44 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36011/37178
2025-04-24 11:18:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:44 [info] currentZPosition:0.120
2025-04-24 11:18:45 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:45 [debug] Diagnostics for board 50:
2025-04-24 11:18:45 [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 11:18:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:50 ago, cause: software
2025-04-24 11:18:45 [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 11:18:45 [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 11:18:45 [debug] Moves scheduled 14670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17857
Sync err accum 107, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:18:45 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16869, writes 0 timeouts 0
2025-04-24 11:18:45 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37178
2025-04-24 11:18:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:45 [info] currentZPosition:0.120
2025-04-24 11:18:46 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:46 [debug] Diagnostics for board 50:
2025-04-24 11:18:46 [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 11:18:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:51 ago, cause: software
2025-04-24 11:18:46 [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 11:18:46 [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 11:18:46 [debug] Moves scheduled 14674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 94, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:46 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17260, writes 0 timeouts 0
2025-04-24 11:18:46 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37176
2025-04-24 11:18:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:46 [info] currentZPosition:0.119
2025-04-24 11:18:48 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:48 [debug] Diagnostics for board 50:
2025-04-24 11:18:48 [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 11:18:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:53 ago, cause: software
2025-04-24 11:18:48 [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 11:18:48 [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 11:18:48 [debug] Moves scheduled 14678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 79, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:18:48 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16391, writes 0 timeouts 0
2025-04-24 11:18:48 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36406/37178
2025-04-24 11:18:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:48 [info] currentZPosition:0.120
2025-04-24 11:18:49 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:49 [debug] Diagnostics for board 50:
2025-04-24 11:18:49 [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 11:18:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:54 ago, cause: software
2025-04-24 11:18:49 [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 11:18:49 [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 11:18:49 [debug] Moves scheduled 14682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 61, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:49 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17271, writes 0 timeouts 0
2025-04-24 11:18:49 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 11:18:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:49 [info] currentZPosition:0.120
2025-04-24 11:18:50 [debug] Stopped at height 0.121 mm
2025-04-24 11:18:50 [debug] Diagnostics for board 50:
2025-04-24 11:18:50 [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 11:18:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:55 ago, cause: software
2025-04-24 11:18:50 [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 11:18:50 [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 11:18:50 [debug] Moves scheduled 14686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6756, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:50 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16344, writes 0 timeouts 0
2025-04-24 11:18:50 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36289/37177
2025-04-24 11:18:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:50 [info] currentZPosition:0.121
2025-04-24 11:18:52 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:52 [debug] Diagnostics for board 50:
2025-04-24 11:18:52 [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 11:18:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:57 ago, cause: software
2025-04-24 11:18:52 [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 11:18:52 [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 11:18:52 [debug] Moves scheduled 14690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 85, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935400 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:18:52 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17594, writes 0 timeouts 0
2025-04-24 11:18:52 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36101/37175
2025-04-24 11:18:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:52 [info] currentZPosition:0.119
2025-04-24 11:18:52 [debug] Stopped at height 0.121 mm
2025-04-24 11:18:53 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:53 [debug] Diagnostics for board 50:
2025-04-24 11:18:53 [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 11:18:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:20:58 ago, cause: software
2025-04-24 11:18:53 [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 11:18:53 [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 11:18:53 [debug] Moves scheduled 14696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=5952, max=17045
Sync err accum 99, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:53 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20456, writes 0 timeouts 0
2025-04-24 11:18:53 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37174
2025-04-24 11:18:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:54 [info] currentZPosition:0.120
2025-04-24 11:18:54 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:55 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:55 [debug] Diagnostics for board 50:
2025-04-24 11:18:55 [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 11:18:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:00 ago, cause: software
2025-04-24 11:18:55 [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 11:18:55 [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 11:18:55 [debug] Moves scheduled 14702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6637, max=17045
Sync err accum 113, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:55 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20997, writes 0 timeouts 0
2025-04-24 11:18:55 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 11:18:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:55 [info] currentZPosition:0.120
2025-04-24 11:18:56 [debug] Stopped at height 0.121 mm
2025-04-24 11:18:56 [debug] Diagnostics for board 50:
2025-04-24 11:18:56 [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 11:18:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:01 ago, cause: software
2025-04-24 11:18:56 [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 11:18:56 [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 11:18:56 [debug] Moves scheduled 14706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6696, max=17045
Sync err accum 119, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:56 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16339, writes 0 timeouts 0
2025-04-24 11:18:56 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37173
2025-04-24 11:18:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:56 [info] currentZPosition:0.121
2025-04-24 11:18:58 [debug] Stopped at height 0.119 mm
2025-04-24 11:18:58 [debug] Diagnostics for board 50:
2025-04-24 11:18:58 [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 11:18:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:03 ago, cause: software
2025-04-24 11:18:58 [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 11:18:58 [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 11:18:58 [debug] Moves scheduled 14710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=82, frequency (Hz): min=6147, max=17045
Sync err accum 125, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:18:58 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17739, writes 0 timeouts 0
2025-04-24 11:18:58 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36097/37177
2025-04-24 11:18:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:18:58 [info] currentZPosition:0.119
2025-04-24 11:18:58 [debug] Stopped at height 0.118 mm
2025-04-24 11:18:59 [debug] Stopped at height 0.120 mm
2025-04-24 11:18:59 [debug] Diagnostics for board 50:
2025-04-24 11:18:59 [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 11:18:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:04 ago, cause: software
2025-04-24 11:18:59 [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 11:18:59 [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 11:18:59 [debug] Moves scheduled 14716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 124, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:18:59 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20118, writes 0 timeouts 0
2025-04-24 11:18:59 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36401/37176
2025-04-24 11:18:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:00 [info] currentZPosition:0.120
2025-04-24 11:19:00 [debug] Stopped at height 0.118 mm
2025-04-24 11:19:01 [debug] Stopped at height 0.119 mm
2025-04-24 11:19:01 [debug] Diagnostics for board 50:
2025-04-24 11:19:01 [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 11:19:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:06 ago, cause: software
2025-04-24 11:19:01 [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 11:19:01 [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 11:19:01 [debug] Moves scheduled 14722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 112, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:19:01 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 21386, writes 0 timeouts 0
2025-04-24 11:19:01 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37178
2025-04-24 11:19:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:01 [info] currentZPosition:0.119
2025-04-24 11:19:02 [debug] Stopped at height 0.119 mm
2025-04-24 11:19:03 [debug] Stopped at height 0.118 mm
2025-04-24 11:19:03 [debug] Diagnostics for board 50:
2025-04-24 11:19:03 [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 11:19:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:08 ago, cause: software
2025-04-24 11:19:03 [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 11:19:03 [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 11:19:03 [debug] Moves scheduled 14728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6880, max=17045
Sync err accum 92, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:19:03 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20851, writes 0 timeouts 0
2025-04-24 11:19:03 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37178
2025-04-24 11:19:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:03 [info] currentZPosition:0.118
2025-04-24 11:19:04 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:04 [debug] Diagnostics for board 50:
2025-04-24 11:19:04 [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 11:19:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:09 ago, cause: software
2025-04-24 11:19:04 [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 11:19:04 [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 11:19:04 [debug] Moves scheduled 14732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 73, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:19:04 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16674, writes 0 timeouts 0
2025-04-24 11:19:04 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36114/37180
2025-04-24 11:19:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:04 [info] currentZPosition:0.120
2025-04-24 11:19:05 [debug] Stopped at height 0.118 mm
2025-04-24 11:19:06 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:06 [debug] Diagnostics for board 50:
2025-04-24 11:19:06 [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 11:19:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:11 ago, cause: software
2025-04-24 11:19:06 [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 11:19:06 [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 11:19:06 [debug] Moves scheduled 14738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6000, max=17857
Sync err accum 63, peak jitter -4/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:06 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 19863, writes 0 timeouts 0
2025-04-24 11:19:06 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36395/37180
2025-04-24 11:19:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:06 [info] currentZPosition:0.122
2025-04-24 11:19:06 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:07 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:07 [debug] Diagnostics for board 50:
2025-04-24 11:19:07 [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 11:19:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:12 ago, cause: software
2025-04-24 11:19:07 [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 11:19:07 [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 11:19:07 [debug] Moves scheduled 14744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6696, max=18292
Sync err accum 82, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:07 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 21213, writes 0 timeouts 0
2025-04-24 11:19:07 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36106/37174
2025-04-24 11:19:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 806
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:08 [info] currentZPosition:0.122
2025-04-24 11:19:09 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:09 [debug] Diagnostics for board 50:
2025-04-24 11:19:09 [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 11:19:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:14 ago, cause: software
2025-04-24 11:19:09 [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 11:19:09 [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 11:19:09 [debug] Moves scheduled 14748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 96, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:19:09 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17252, writes 0 timeouts 0
2025-04-24 11:19:09 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36414/37174
2025-04-24 11:19:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:09 [info] currentZPosition:0.120
2025-04-24 11:19:09 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:11 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:11 [debug] Diagnostics for board 50:
2025-04-24 11:19:11 [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 11:19:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:15 ago, cause: software
2025-04-24 11:19:11 [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 11:19:11 [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 11:19:11 [debug] Moves scheduled 14754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 109, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:11 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20901, writes 0 timeouts 0
2025-04-24 11:19:11 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 11:19:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:11 [info] currentZPosition:0.121
2025-04-24 11:19:12 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:12 [debug] Diagnostics for board 50:
2025-04-24 11:19:12 [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 11:19:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:17 ago, cause: software
2025-04-24 11:19:12 [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 11:19:12 [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 11:19:12 [debug] Moves scheduled 14758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 117, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:12 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16745, writes 0 timeouts 0
2025-04-24 11:19:12 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36393/37175
2025-04-24 11:19:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8872, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:12 [info] currentZPosition:0.121
2025-04-24 11:19:13 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:13 [debug] Diagnostics for board 50:
2025-04-24 11:19:13 [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 11:19:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:18 ago, cause: software
2025-04-24 11:19:13 [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 11:19:13 [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 11:19:13 [debug] Moves scheduled 14762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 123, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:13 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17189, writes 0 timeouts 0
2025-04-24 11:19:13 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37173
2025-04-24 11:19:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:13 [info] currentZPosition:0.121
2025-04-24 11:19:15 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:15 [debug] Diagnostics for board 50:
2025-04-24 11:19:15 [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 11:19:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:19 ago, cause: software
2025-04-24 11:19:15 [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 11:19:15 [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 11:19:15 [debug] Moves scheduled 14766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 126, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:15 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16805, writes 0 timeouts 0
2025-04-24 11:19:15 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37175
2025-04-24 11:19:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:15 [info] currentZPosition:0.120
2025-04-24 11:19:16 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:16 [debug] Diagnostics for board 50:
2025-04-24 11:19:16 [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 11:19:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:21 ago, cause: software
2025-04-24 11:19:16 [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 11:19:16 [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 11:19:16 [debug] Moves scheduled 14770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 127, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:16 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17115, writes 0 timeouts 0
2025-04-24 11:19:16 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37175
2025-04-24 11:19:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:16 [info] currentZPosition:0.120
2025-04-24 11:19:17 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:17 [debug] Diagnostics for board 50:
2025-04-24 11:19:17 [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 11:19:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:22 ago, cause: software
2025-04-24 11:19:17 [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 11:19:17 [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 11:19:17 [debug] Moves scheduled 14774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 118, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:19:17 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16306, writes 0 timeouts 0
2025-04-24 11:19:17 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36404/37177
2025-04-24 11:19:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:17 [info] currentZPosition:0.121
2025-04-24 11:19:19 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:19 [debug] Diagnostics for board 50:
2025-04-24 11:19:19 [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 11:19:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:23 ago, cause: software
2025-04-24 11:19:19 [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 11:19:19 [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 11:19:19 [debug] Moves scheduled 14778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 109, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:19:19 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17506, writes 0 timeouts 0
2025-04-24 11:19:19 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37178
2025-04-24 11:19:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:19 [info] currentZPosition:0.121
2025-04-24 11:19:20 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:20 [debug] Diagnostics for board 50:
2025-04-24 11:19:20 [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 11:19:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:25 ago, cause: software
2025-04-24 11:19:20 [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 11:19:20 [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 11:19:20 [debug] Moves scheduled 14782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 99, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:20 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16545, writes 0 timeouts 0
2025-04-24 11:19:20 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36386/37179
2025-04-24 11:19:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:20 [info] currentZPosition:0.121
2025-04-24 11:19:21 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:21 [debug] Diagnostics for board 50:
2025-04-24 11:19:21 [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 11:19:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:26 ago, cause: software
2025-04-24 11:19:21 [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 11:19:21 [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 11:19:21 [debug] Moves scheduled 14786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 84, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:21 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16924, writes 0 timeouts 0
2025-04-24 11:19:21 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37178
2025-04-24 11:19:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:21 [info] currentZPosition:0.121
2025-04-24 11:19:23 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:23 [debug] Diagnostics for board 50:
2025-04-24 11:19:23 [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 11:19:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:28 ago, cause: software
2025-04-24 11:19:23 [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 11:19:23 [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 11:19:23 [debug] Moves scheduled 14790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 68, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:23 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17032, writes 0 timeouts 0
2025-04-24 11:19:23 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36407/37178
2025-04-24 11:19:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:23 [info] currentZPosition:0.120
2025-04-24 11:19:24 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:24 [debug] Diagnostics for board 50:
2025-04-24 11:19:24 [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 11:19:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:21:29 ago, cause: software
2025-04-24 11:19:24 [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 11:19:24 [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 11:19:24 [debug] Moves scheduled 14794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17857
Sync err accum 64, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:24 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17117, writes 0 timeouts 0
2025-04-24 11:19:24 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 11:19:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:24 [info] currentZPosition:0.121
2025-04-24 11:19:25 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:25 [debug] Diagnostics for board 50:
2025-04-24 11:19:25 [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 11:19:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:30 ago, cause: software
2025-04-24 11:19:25 [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 11:19:25 [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 11:19:25 [debug] Moves scheduled 14798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6302, max=17857
Sync err accum 74, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:25 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16894, writes 0 timeouts 0
2025-04-24 11:19:25 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36377/37175
2025-04-24 11:19:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:25 [info] currentZPosition:0.120
2025-04-24 11:19:27 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:27 [debug] Diagnostics for board 50:
2025-04-24 11:19:27 [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 11:19:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:21:32 ago, cause: software
2025-04-24 11:19:27 [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 11:19:27 [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 11:19:27 [debug] Moves scheduled 14802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:19:27 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16889, writes 0 timeouts 0
2025-04-24 11:19:27 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37176
2025-04-24 11:19:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:27 [info] currentZPosition:0.121
2025-04-24 11:19:28 [debug] Stopped at height 0.119 mm
2025-04-24 11:19:28 [debug] Diagnostics for board 50:
2025-04-24 11:19:28 [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 11:19:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:33 ago, cause: software
2025-04-24 11:19:28 [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 11:19:28 [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 11:19:28 [debug] Moves scheduled 14806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:19:28 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17141, writes 0 timeouts 0
2025-04-24 11:19:28 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36283/37176
2025-04-24 11:19:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:28 [info] currentZPosition:0.119
2025-04-24 11:19:28 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:30 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:30 [debug] Diagnostics for board 50:
2025-04-24 11:19:30 [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 11:19:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:35 ago, cause: software
2025-04-24 11:19:30 [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 11:19:30 [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 11:19:30 [debug] Moves scheduled 14812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6147, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:30 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20622, writes 0 timeouts 0
2025-04-24 11:19:30 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37177
2025-04-24 11:19:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8909, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:30 [info] currentZPosition:0.120
2025-04-24 11:19:30 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:31 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:31 [debug] Diagnostics for board 50:
2025-04-24 11:19:31 [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 11:19:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:36 ago, cause: software
2025-04-24 11:19:31 [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 11:19:31 [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 11:19:31 [debug] Moves scheduled 14818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=113, frequency (Hz): min=6147, max=17857
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:31 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 20491, writes 0 timeouts 0
2025-04-24 11:19:31 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36151/37177
2025-04-24 11:19:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:32 [info] currentZPosition:0.120
2025-04-24 11:19:33 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:33 [debug] Diagnostics for board 50:
2025-04-24 11:19:33 [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 11:19:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:38 ago, cause: software
2025-04-24 11:19:33 [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 11:19:33 [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 11:19:33 [debug] Moves scheduled 14822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:33 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16750, writes 0 timeouts 0
2025-04-24 11:19:33 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37178
2025-04-24 11:19:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:33 [info] currentZPosition:0.121
2025-04-24 11:19:33 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:34 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:34 [debug] Diagnostics for board 50:
2025-04-24 11:19:34 [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 11:19:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:39 ago, cause: software
2025-04-24 11:19:34 [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 11:19:34 [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 11:19:34 [debug] Moves scheduled 14828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=88, frequency (Hz): min=6756, max=17045
Sync err accum 70, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:34 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20526, writes 0 timeouts 0
2025-04-24 11:19:34 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37176
2025-04-24 11:19:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:34 [info] currentZPosition:0.121
2025-04-24 11:19:36 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:36 [debug] Diagnostics for board 50:
2025-04-24 11:19:36 [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 11:19:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:41 ago, cause: software
2025-04-24 11:19:36 [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 11:19:36 [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 11:19:36 [debug] Moves scheduled 14832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 63, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:19:36 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17437, writes 0 timeouts 0
2025-04-24 11:19:36 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 11:19:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:36 [info] currentZPosition:0.120
2025-04-24 11:19:37 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:37 [debug] Diagnostics for board 50:
2025-04-24 11:19:37 [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 11:19:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:42 ago, cause: software
2025-04-24 11:19:37 [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 11:19:37 [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 11:19:37 [debug] Moves scheduled 14836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 66, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:19:37 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16460, writes 0 timeouts 0
2025-04-24 11:19:37 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37173
2025-04-24 11:19:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:37 [info] currentZPosition:0.121
2025-04-24 11:19:38 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:38 [debug] Diagnostics for board 50:
2025-04-24 11:19:38 [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 11:19:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:43 ago, cause: software
2025-04-24 11:19:38 [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 11:19:38 [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 11:19:38 [debug] Moves scheduled 14840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6465, max=17857
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932347 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:38 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16743, writes 0 timeouts 0
2025-04-24 11:19:38 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36094/37177
2025-04-24 11:19:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:39 [info] currentZPosition:0.122
2025-04-24 11:19:39 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:40 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:40 [debug] Diagnostics for board 50:
2025-04-24 11:19:40 [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 11:19:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:45 ago, cause: software
2025-04-24 11:19:40 [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 11:19:40 [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 11:19:40 [debug] Moves scheduled 14846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17857
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:40 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20964, writes 0 timeouts 0
2025-04-24 11:19:40 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36148/37175
2025-04-24 11:19:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:40 [info] currentZPosition:0.120
2025-04-24 11:19:42 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:42 [debug] Diagnostics for board 50:
2025-04-24 11:19:42 [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 11:19:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:46 ago, cause: software
2025-04-24 11:19:42 [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 11:19:42 [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 11:19:42 [debug] Moves scheduled 14850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 68, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:42 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17001, writes 0 timeouts 0
2025-04-24 11:19:42 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37170
2025-04-24 11:19:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:42 [info] currentZPosition:0.121
2025-04-24 11:19:43 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:43 [debug] Diagnostics for board 50:
2025-04-24 11:19:43 [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 11:19:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:48 ago, cause: software
2025-04-24 11:19:43 [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 11:19:43 [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 11:19:43 [debug] Moves scheduled 14854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 75, peak jitter 1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294932462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 11:19:43 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16391, writes 0 timeouts 0
2025-04-24 11:19:43 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37177
2025-04-24 11:19:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:43 [info] currentZPosition:0.122
2025-04-24 11:19:44 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:44 [debug] Diagnostics for board 50:
2025-04-24 11:19:44 [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 11:19:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:49 ago, cause: software
2025-04-24 11:19:44 [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 11:19:44 [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 11:19:44 [debug] Moves scheduled 14858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 80, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:44 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17186, writes 0 timeouts 0
2025-04-24 11:19:44 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37174
2025-04-24 11:19:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:44 [info] currentZPosition:0.122
2025-04-24 11:19:46 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:46 [debug] Diagnostics for board 50:
2025-04-24 11:19:46 [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 11:19:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:50 ago, cause: software
2025-04-24 11:19:46 [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 11:19:46 [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 11:19:46 [debug] Moves scheduled 14862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
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 4294935647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:46 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16565, writes 0 timeouts 0
2025-04-24 11:19:46 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37177
2025-04-24 11:19:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:46 [info] currentZPosition:0.122
2025-04-24 11:19:47 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:47 [debug] Diagnostics for board 50:
2025-04-24 11:19:47 [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 11:19:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:52 ago, cause: software
2025-04-24 11:19:47 [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 11:19:47 [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 11:19:47 [debug] Moves scheduled 14866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6637, max=17857
Sync err accum 76, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:47 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17397, writes 0 timeouts 0
2025-04-24 11:19:47 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37178
2025-04-24 11:19:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:47 [info] currentZPosition:0.121
2025-04-24 11:19:48 [debug] Stopped at height 0.119 mm
2025-04-24 11:19:48 [debug] Diagnostics for board 50:
2025-04-24 11:19:48 [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 11:19:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:53 ago, cause: software
2025-04-24 11:19:48 [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 11:19:48 [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 11:19:48 [debug] Moves scheduled 14870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:19:48 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17210, writes 0 timeouts 0
2025-04-24 11:19:48 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36146/37176
2025-04-24 11:19:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:48 [info] currentZPosition:0.119
2025-04-24 11:19:49 [debug] Stopped at height 0.119 mm
2025-04-24 11:19:50 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:50 [debug] Diagnostics for board 50:
2025-04-24 11:19:50 [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 11:19:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:55 ago, cause: software
2025-04-24 11:19:50 [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 11:19:50 [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 11:19:50 [debug] Moves scheduled 14876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 63, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:50 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20558, writes 0 timeouts 0
2025-04-24 11:19:50 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36106/37177
2025-04-24 11:19:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:50 [info] currentZPosition:0.121
2025-04-24 11:19:50 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:52 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:52 [debug] Diagnostics for board 50:
2025-04-24 11:19:52 [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 11:19:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:56 ago, cause: software
2025-04-24 11:19:52 [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 11:19:52 [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 11:19:52 [debug] Moves scheduled 14882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 80, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:19:52 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20407, writes 0 timeouts 0
2025-04-24 11:19:52 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37175
2025-04-24 11:19:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:52 [info] currentZPosition:0.121
2025-04-24 11:19:53 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:53 [debug] Diagnostics for board 50:
2025-04-24 11:19:53 [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 11:19:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:58 ago, cause: software
2025-04-24 11:19:53 [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 11:19:53 [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 11:19:53 [debug] Moves scheduled 14886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=18292
Sync err accum 90, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:19:53 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17508, writes 0 timeouts 0
2025-04-24 11:19:53 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36108/37174
2025-04-24 11:19:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:53 [info] currentZPosition:0.120
2025-04-24 11:19:54 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:54 [debug] Diagnostics for board 50:
2025-04-24 11:19:54 [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 11:19:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:21:59 ago, cause: software
2025-04-24 11:19:54 [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 11:19:54 [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 11:19:54 [debug] Moves scheduled 14890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931800 ticks, disabled
VIN voltage: min 24.3, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:54 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16069, writes 0 timeouts 0
2025-04-24 11:19:54 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37176
2025-04-24 11:19:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:54 [info] currentZPosition:0.122
2025-04-24 11:19:55 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:56 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:56 [debug] Diagnostics for board 50:
2025-04-24 11:19:56 [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 11:19:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:01 ago, cause: software
2025-04-24 11:19:56 [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 11:19:56 [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 11:19:56 [debug] Moves scheduled 14896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 98, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:19:56 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 21150, writes 0 timeouts 0
2025-04-24 11:19:56 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36099/37174
2025-04-24 11:19:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:56 [info] currentZPosition:0.122
2025-04-24 11:19:56 [debug] Stopped at height 0.120 mm
2025-04-24 11:19:58 [debug] Stopped at height 0.123 mm
2025-04-24 11:19:58 [debug] Diagnostics for board 50:
2025-04-24 11:19:58 [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 11:19:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:02 ago, cause: software
2025-04-24 11:19:58 [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 11:19:58 [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 11:19:58 [debug] Moves scheduled 14902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6048, max=17045
Sync err accum 96, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:19:58 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20171, writes 0 timeouts 0
2025-04-24 11:19:58 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37176
2025-04-24 11:19:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:58 [info] currentZPosition:0.123
2025-04-24 11:19:58 [debug] Stopped at height 0.121 mm
2025-04-24 11:19:59 [debug] Stopped at height 0.122 mm
2025-04-24 11:19:59 [debug] Diagnostics for board 50:
2025-04-24 11:19:59 [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 11:19:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:04 ago, cause: software
2025-04-24 11:19:59 [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 11:19:59 [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 11:19:59 [debug] Moves scheduled 14908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=514, max=17441
Sync err accum 89, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:19:59 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 21033, writes 11 timeouts 1
2025-04-24 11:19:59 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37175
2025-04-24 11:19:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:19:59 [info] currentZPosition:0.122
2025-04-24 11:20:01 [debug] Stopped at height 0.121 mm
2025-04-24 11:20:01 [debug] Diagnostics for board 50:
2025-04-24 11:20:01 [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 11:20:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:05 ago, cause: software
2025-04-24 11:20:01 [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 11:20:01 [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 11:20:01 [debug] Moves scheduled 14912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=173, frequency (Hz): min=5000, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:20:01 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17025, writes 0 timeouts 0
2025-04-24 11:20:01 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36168/37178
2025-04-24 11:20:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:01 [info] currentZPosition:0.121
2025-04-24 11:20:01 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:02 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:02 [debug] Diagnostics for board 50:
2025-04-24 11:20:02 [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 11:20:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:07 ago, cause: software
2025-04-24 11:20:02 [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 11:20:02 [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 11:20:02 [debug] Moves scheduled 14918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:20:02 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20779, writes 0 timeouts 0
2025-04-24 11:20:02 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37180
2025-04-24 11:20:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:02 [info] currentZPosition:0.122
2025-04-24 11:20:03 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:04 [debug] Stopped at height 0.121 mm
2025-04-24 11:20:04 [debug] Diagnostics for board 50:
2025-04-24 11:20:04 [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 11:20:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:09 ago, cause: software
2025-04-24 11:20:04 [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 11:20:04 [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 11:20:04 [debug] Moves scheduled 14924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:04 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20852, writes 0 timeouts 0
2025-04-24 11:20:04 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37176
2025-04-24 11:20:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:04 [info] currentZPosition:0.121
2025-04-24 11:20:05 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:05 [debug] Diagnostics for board 50:
2025-04-24 11:20:05 [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 11:20:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:10 ago, cause: software
2025-04-24 11:20:05 [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 11:20:05 [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 11:20:05 [debug] Moves scheduled 14928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter -2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:05 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16910, writes 0 timeouts 0
2025-04-24 11:20:05 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36006/37177
2025-04-24 11:20:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:05 [info] currentZPosition:0.122
2025-04-24 11:20:07 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:07 [debug] Diagnostics for board 50:
2025-04-24 11:20:07 [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 11:20:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:11 ago, cause: software
2025-04-24 11:20:07 [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 11:20:07 [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 11:20:07 [debug] Moves scheduled 14932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 82, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:07 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16412, writes 0 timeouts 0
2025-04-24 11:20:07 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37174
2025-04-24 11:20:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:07 [info] currentZPosition:0.122
2025-04-24 11:20:08 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:08 [debug] Diagnostics for board 50:
2025-04-24 11:20:08 [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 11:20:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:13 ago, cause: software
2025-04-24 11:20:08 [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 11:20:08 [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 11:20:08 [debug] Moves scheduled 14936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6637, max=18292
Sync err accum 99, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:08 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17330, writes 0 timeouts 0
2025-04-24 11:20:08 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37171
2025-04-24 11:20:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:08 [info] currentZPosition:0.122
2025-04-24 11:20:09 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:09 [debug] Diagnostics for board 50:
2025-04-24 11:20:09 [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 11:20:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:14 ago, cause: software
2025-04-24 11:20:09 [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 11:20:09 [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 11:20:09 [debug] Moves scheduled 14940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 111, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:09 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16411, writes 0 timeouts 0
2025-04-24 11:20:09 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36162/37175
2025-04-24 11:20:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:09 [info] currentZPosition:0.122
2025-04-24 11:20:11 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:11 [debug] Diagnostics for board 50:
2025-04-24 11:20:11 [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 11:20:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:15 ago, cause: software
2025-04-24 11:20:11 [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 11:20:11 [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 11:20:11 [debug] Moves scheduled 14944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 119, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:11 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17077, writes 0 timeouts 0
2025-04-24 11:20:11 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 11:20:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:11 [info] currentZPosition:0.123
2025-04-24 11:20:12 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:12 [debug] Diagnostics for board 50:
2025-04-24 11:20:12 [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 11:20:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:17 ago, cause: software
2025-04-24 11:20:12 [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 11:20:12 [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 11:20:12 [debug] Moves scheduled 14948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 124, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:12 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16788, writes 0 timeouts 0
2025-04-24 11:20:12 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37172
2025-04-24 11:20:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:12 [info] currentZPosition:0.122
2025-04-24 11:20:13 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:13 [debug] Diagnostics for board 50:
2025-04-24 11:20:13 [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 11:20:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:18 ago, cause: software
2025-04-24 11:20:13 [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 11:20:13 [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 11:20:13 [debug] Moves scheduled 14952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 124, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:13 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17215, writes 0 timeouts 0
2025-04-24 11:20:13 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37175
2025-04-24 11:20:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:13 [info] currentZPosition:0.122
2025-04-24 11:20:15 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:15 [debug] Diagnostics for board 50:
2025-04-24 11:20:15 [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 11:20:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:20 ago, cause: software
2025-04-24 11:20:15 [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 11:20:15 [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 11:20:15 [debug] Moves scheduled 14956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 113, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:20:15 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16532, writes 0 timeouts 0
2025-04-24 11:20:15 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37177
2025-04-24 11:20:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:15 [info] currentZPosition:0.122
2025-04-24 11:20:16 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:16 [debug] Diagnostics for board 50:
2025-04-24 11:20:16 [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 11:20:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:21 ago, cause: software
2025-04-24 11:20:16 [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 11:20:16 [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 11:20:16 [debug] Moves scheduled 14960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 98, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:16 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17131, writes 0 timeouts 0
2025-04-24 11:20:16 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36114/37178
2025-04-24 11:20:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:16 [info] currentZPosition:0.122
2025-04-24 11:20:17 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:17 [debug] Diagnostics for board 50:
2025-04-24 11:20:17 [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 11:20:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:22 ago, cause: software
2025-04-24 11:20:17 [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 11:20:17 [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 11:20:17 [debug] Moves scheduled 14964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 81, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:17 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16461, writes 0 timeouts 0
2025-04-24 11:20:17 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36170/37175
2025-04-24 11:20:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:17 [info] currentZPosition:0.123
2025-04-24 11:20:19 [debug] Stopped at height 0.121 mm
2025-04-24 11:20:19 [debug] Diagnostics for board 50:
2025-04-24 11:20:19 [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 11:20:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:24 ago, cause: software
2025-04-24 11:20:19 [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 11:20:19 [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 11:20:19 [debug] Moves scheduled 14968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17441
Sync err accum 64, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:19 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17590, writes 0 timeouts 0
2025-04-24 11:20:19 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37177
2025-04-24 11:20:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:19 [info] currentZPosition:0.121
2025-04-24 11:20:19 [debug] Stopped at height 0.120 mm
2025-04-24 11:20:20 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:20 [debug] Diagnostics for board 50:
2025-04-24 11:20:20 [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 11:20:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:25 ago, cause: software
2025-04-24 11:20:20 [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 11:20:20 [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 11:20:20 [debug] Moves scheduled 14974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 64, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:20 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20139, writes 0 timeouts 0
2025-04-24 11:20:20 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36147/37177
2025-04-24 11:20:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:21 [info] currentZPosition:0.123
2025-04-24 11:20:21 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:22 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:22 [debug] Diagnostics for board 50:
2025-04-24 11:20:22 [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 11:20:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:27 ago, cause: software
2025-04-24 11:20:22 [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 11:20:22 [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 11:20:22 [debug] Moves scheduled 14980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 85, peak jitter 2/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:22 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 21199, writes 0 timeouts 0
2025-04-24 11:20:22 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37170
2025-04-24 11:20:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:22 [info] currentZPosition:0.122
2025-04-24 11:20:23 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:23 [debug] Diagnostics for board 50:
2025-04-24 11:20:23 [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 11:20:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:28 ago, cause: software
2025-04-24 11:20:23 [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 11:20:23 [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 11:20:23 [debug] Moves scheduled 14984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
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 4294931879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:23 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16809, writes 0 timeouts 0
2025-04-24 11:20:23 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36283/37174
2025-04-24 11:20:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:24 [info] currentZPosition:0.122
2025-04-24 11:20:25 [debug] Stopped at height 0.121 mm
2025-04-24 11:20:25 [debug] Diagnostics for board 50:
2025-04-24 11:20:25 [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 11:20:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:30 ago, cause: software
2025-04-24 11:20:25 [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 11:20:25 [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 11:20:25 [debug] Moves scheduled 14988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 110, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:25 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17226, writes 0 timeouts 0
2025-04-24 11:20:25 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 11:20:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:25 [info] currentZPosition:0.121
2025-04-24 11:20:26 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:26 [debug] Diagnostics for board 50:
2025-04-24 11:20:26 [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 11:20:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:31 ago, cause: software
2025-04-24 11:20:26 [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 11:20:26 [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 11:20:26 [debug] Moves scheduled 14992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 116, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:26 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16482, writes 0 timeouts 0
2025-04-24 11:20:26 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37175
2025-04-24 11:20:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:26 [info] currentZPosition:0.122
2025-04-24 11:20:28 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:28 [debug] Diagnostics for board 50:
2025-04-24 11:20:28 [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 11:20:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:32 ago, cause: software
2025-04-24 11:20:28 [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 11:20:28 [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 11:20:28 [debug] Moves scheduled 14996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 120, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:28 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16851, writes 0 timeouts 0
2025-04-24 11:20:28 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36093/37170
2025-04-24 11:20:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:28 [info] currentZPosition:0.123
2025-04-24 11:20:29 [debug] Stopped at height 0.121 mm
2025-04-24 11:20:29 [debug] Diagnostics for board 50:
2025-04-24 11:20:29 [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 11:20:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:34 ago, cause: software
2025-04-24 11:20:29 [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 11:20:29 [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 11:20:29 [debug] Moves scheduled 15000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5357, max=17857
Sync err accum 123, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:29 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17128, writes 0 timeouts 0
2025-04-24 11:20:29 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36405/37177
2025-04-24 11:20:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:29 [info] currentZPosition:0.121
2025-04-24 11:20:29 [debug] Stopped at height 0.119 mm
2025-04-24 11:20:30 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:31 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:31 [debug] Diagnostics for board 50:
2025-04-24 11:20:31 [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 11:20:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:36 ago, cause: software
2025-04-24 11:20:31 [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 11:20:31 [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 11:20:31 [debug] Moves scheduled 15008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 119, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294760159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:31 [debug] Driver 0: pos -3479, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 32316, writes 0 timeouts 0
2025-04-24 11:20:31 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, send timeouts 0, received 32, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37177
2025-04-24 11:20:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:32 [info] currentZPosition:0.122
2025-04-24 11:20:33 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:33 [debug] Diagnostics for board 50:
2025-04-24 11:20:33 [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 11:20:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:38 ago, cause: software
2025-04-24 11:20:33 [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 11:20:33 [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 11:20:33 [debug] Moves scheduled 15012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 112, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294782632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:33 [debug] Driver 0: pos -3469, 10060.2 steps/mm, standstill, SG min 0, mspos 440, reads 25987, writes 0 timeouts 0
2025-04-24 11:20:33 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 287, adv 36405/37174
2025-04-24 11:20:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:34 [info] currentZPosition:0.123
2025-04-24 11:20:35 [debug] Stopped at height 0.121 mm
2025-04-24 11:20:35 [debug] Diagnostics for board 50:
2025-04-24 11:20:35 [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 11:20:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:40 ago, cause: software
2025-04-24 11:20:35 [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 11:20:35 [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 11:20:35 [debug] Moves scheduled 15016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 103, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:20:35 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17712, writes 0 timeouts 0
2025-04-24 11:20:35 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37177
2025-04-24 11:20:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:35 [info] currentZPosition:0.121
2025-04-24 11:20:35 [debug] Stopped at height 0.120 mm
2025-04-24 11:20:37 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:37 [debug] Diagnostics for board 50:
2025-04-24 11:20:37 [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 11:20:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:41 ago, cause: software
2025-04-24 11:20:37 [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 11:20:37 [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 11:20:37 [debug] Moves scheduled 15022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 87, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:37 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20187, writes 0 timeouts 0
2025-04-24 11:20:37 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36405/37178
2025-04-24 11:20:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:37 [info] currentZPosition:0.123
2025-04-24 11:20:37 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:38 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:38 [debug] Diagnostics for board 50:
2025-04-24 11:20:38 [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 11:20:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:43 ago, cause: software
2025-04-24 11:20:38 [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 11:20:38 [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 11:20:38 [debug] Moves scheduled 15028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=17045
Sync err accum 70, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:38 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 21308, writes 0 timeouts 0
2025-04-24 11:20:38 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37178
2025-04-24 11:20:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:38 [info] currentZPosition:0.122
2025-04-24 11:20:40 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:40 [debug] Diagnostics for board 50:
2025-04-24 11:20:40 [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 11:20:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:44 ago, cause: software
2025-04-24 11:20:40 [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 11:20:40 [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 11:20:40 [debug] Moves scheduled 15032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 60, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:40 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16506, writes 0 timeouts 0
2025-04-24 11:20:40 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37176
2025-04-24 11:20:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:40 [info] currentZPosition:0.122
2025-04-24 11:20:41 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:41 [debug] Diagnostics for board 50:
2025-04-24 11:20:41 [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 11:20:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:46 ago, cause: software
2025-04-24 11:20:41 [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 11:20:41 [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 11:20:41 [debug] Moves scheduled 15036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5813, max=17045
Sync err accum 74, peak jitter 0/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:41 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17139, writes 0 timeouts 0
2025-04-24 11:20:41 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37172
2025-04-24 11:20:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:41 [info] currentZPosition:0.122
2025-04-24 11:20:42 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:42 [debug] Diagnostics for board 50:
2025-04-24 11:20:42 [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 11:20:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:47 ago, cause: software
2025-04-24 11:20:42 [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 11:20:42 [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 11:20:42 [debug] Moves scheduled 15040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 88, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:42 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16457, writes 0 timeouts 0
2025-04-24 11:20:42 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37173
2025-04-24 11:20:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:42 [info] currentZPosition:0.123
2025-04-24 11:20:44 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:44 [debug] Diagnostics for board 50:
2025-04-24 11:20:44 [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 11:20:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:48 ago, cause: software
2025-04-24 11:20:44 [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 11:20:44 [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 11:20:44 [debug] Moves scheduled 15044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 94, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:44 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17167, writes 0 timeouts 0
2025-04-24 11:20:44 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:20:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:44 [info] currentZPosition:0.123
2025-04-24 11:20:45 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:45 [debug] Diagnostics for board 50:
2025-04-24 11:20:45 [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 11:20:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:50 ago, cause: software
2025-04-24 11:20:45 [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 11:20:45 [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 11:20:45 [debug] Moves scheduled 15048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=907, max=17045
Sync err accum 101, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928811 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:45 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16903, writes 11 timeouts 1
2025-04-24 11:20:45 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37173
2025-04-24 11:20:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:45 [info] currentZPosition:0.122
2025-04-24 11:20:46 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:46 [debug] Diagnostics for board 50:
2025-04-24 11:20:46 [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 11:20:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:51 ago, cause: software
2025-04-24 11:20:46 [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 11:20:46 [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 11:20:46 [debug] Moves scheduled 15052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 106, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:46 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16755, writes 0 timeouts 0
2025-04-24 11:20:46 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37176
2025-04-24 11:20:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:46 [info] currentZPosition:0.123
2025-04-24 11:20:47 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:48 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:48 [debug] Diagnostics for board 50:
2025-04-24 11:20:48 [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 11:20:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:53 ago, cause: software
2025-04-24 11:20:48 [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 11:20:48 [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 11:20:48 [debug] Moves scheduled 15058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=616, max=18292
Sync err accum 108, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:48 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20537, writes 11 timeouts 1
2025-04-24 11:20:48 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37172
2025-04-24 11:20:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8858, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:48 [info] currentZPosition:0.123
2025-04-24 11:20:49 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:49 [debug] Diagnostics for board 50:
2025-04-24 11:20:49 [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 11:20:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:54 ago, cause: software
2025-04-24 11:20:49 [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 11:20:49 [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 11:20:49 [debug] Moves scheduled 15062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=138, frequency (Hz): min=5952, max=17045
Sync err accum 107, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:20:49 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17296, writes 0 timeouts 0
2025-04-24 11:20:49 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36098/37176
2025-04-24 11:20:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:49 [info] currentZPosition:0.123
2025-04-24 11:20:51 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:51 [debug] Diagnostics for board 50:
2025-04-24 11:20:51 [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 11:20:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:56 ago, cause: software
2025-04-24 11:20:51 [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 11:20:51 [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 11:20:51 [debug] Moves scheduled 15066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 103, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:51 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16810, writes 0 timeouts 0
2025-04-24 11:20:51 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36406/37173
2025-04-24 11:20:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8920, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:51 [info] currentZPosition:0.122
2025-04-24 11:20:52 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:52 [debug] Diagnostics for board 50:
2025-04-24 11:20:52 [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 11:20:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:57 ago, cause: software
2025-04-24 11:20:52 [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 11:20:52 [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 11:20:52 [debug] Moves scheduled 15070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=18292
Sync err accum 99, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:52 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16686, writes 0 timeouts 0
2025-04-24 11:20:52 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37178
2025-04-24 11:20:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:52 [info] currentZPosition:0.123
2025-04-24 11:20:52 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:54 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:54 [debug] Diagnostics for board 50:
2025-04-24 11:20:54 [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 11:20:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:22:59 ago, cause: software
2025-04-24 11:20:54 [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 11:20:54 [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 11:20:54 [debug] Moves scheduled 15076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:20:54 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 21048, writes 0 timeouts 0
2025-04-24 11:20:54 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37172
2025-04-24 11:20:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:54 [info] currentZPosition:0.122
2025-04-24 11:20:55 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:55 [debug] Diagnostics for board 50:
2025-04-24 11:20:55 [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 11:20:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:00 ago, cause: software
2025-04-24 11:20:55 [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 11:20:55 [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 11:20:55 [debug] Moves scheduled 15080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 78, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:55 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16882, writes 0 timeouts 0
2025-04-24 11:20:55 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36113/37178
2025-04-24 11:20:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:55 [info] currentZPosition:0.123
2025-04-24 11:20:56 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:56 [debug] Diagnostics for board 50:
2025-04-24 11:20:56 [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 11:20:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:01 ago, cause: software
2025-04-24 11:20:56 [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 11:20:56 [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 11:20:56 [debug] Moves scheduled 15084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5725, max=17857
Sync err accum 61, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:20:56 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16342, writes 0 timeouts 0
2025-04-24 11:20:56 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37177
2025-04-24 11:20:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:57 [info] currentZPosition:0.123
2025-04-24 11:20:58 [debug] Stopped at height 0.123 mm
2025-04-24 11:20:58 [debug] Diagnostics for board 50:
2025-04-24 11:20:58 [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 11:20:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:03 ago, cause: software
2025-04-24 11:20:58 [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 11:20:58 [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 11:20:58 [debug] Moves scheduled 15088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 70, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:20:58 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17143, writes 0 timeouts 0
2025-04-24 11:20:58 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36106/37177
2025-04-24 11:20:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:58 [info] currentZPosition:0.123
2025-04-24 11:20:59 [debug] Stopped at height 0.122 mm
2025-04-24 11:20:59 [debug] Diagnostics for board 50:
2025-04-24 11:20:59 [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 11:20:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:04 ago, cause: software
2025-04-24 11:20:59 [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 11:20:59 [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 11:20:59 [debug] Moves scheduled 15092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933787 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:20:59 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16987, writes 0 timeouts 0
2025-04-24 11:20:59 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37171
2025-04-24 11:20:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:20:59 [info] currentZPosition:0.122
2025-04-24 11:21:01 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:01 [debug] Diagnostics for board 50:
2025-04-24 11:21:01 [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 11:21:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:05 ago, cause: software
2025-04-24 11:21:01 [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 11:21:01 [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 11:21:01 [debug] Moves scheduled 15096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:21:01 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16954, writes 0 timeouts 0
2025-04-24 11:21:01 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37175
2025-04-24 11:21:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:01 [info] currentZPosition:0.123
2025-04-24 11:21:02 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:02 [debug] Diagnostics for board 50:
2025-04-24 11:21:02 [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 11:21:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:07 ago, cause: software
2025-04-24 11:21:02 [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 11:21:02 [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 11:21:02 [debug] Moves scheduled 15100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=504, max=17045
Sync err accum 99, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:21:02 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16332, writes 11 timeouts 1
2025-04-24 11:21:02 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37174
2025-04-24 11:21:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:02 [info] currentZPosition:0.124
2025-04-24 11:21:03 [debug] Stopped at height 0.122 mm
2025-04-24 11:21:03 [debug] Diagnostics for board 50:
2025-04-24 11:21:03 [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 11:21:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:08 ago, cause: software
2025-04-24 11:21:03 [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 11:21:03 [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 11:21:03 [debug] Moves scheduled 15104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 106, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:03 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17638, writes 0 timeouts 0
2025-04-24 11:21:03 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36096/37166
2025-04-24 11:21:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:03 [info] currentZPosition:0.122
2025-04-24 11:21:04 [debug] Stopped at height 0.120 mm
2025-04-24 11:21:04 [debug] Stopped at height 0.119 mm
2025-04-24 11:21:05 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:05 [debug] Diagnostics for board 50:
2025-04-24 11:21:05 [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 11:21:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:10 ago, cause: software
2025-04-24 11:21:05 [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 11:21:05 [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 11:21:05 [debug] Moves scheduled 15112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6250, max=17045
Sync err accum 109, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:05 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 24314, writes 0 timeouts 0
2025-04-24 11:21:05 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36379/37172
2025-04-24 11:21:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:05 [info] currentZPosition:0.124
2025-04-24 11:21:06 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:07 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:07 [debug] Diagnostics for board 50:
2025-04-24 11:21:07 [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 11:21:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:12 ago, cause: software
2025-04-24 11:21:07 [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 11:21:07 [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 11:21:07 [debug] Moves scheduled 15118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 111, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:07 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 21130, writes 0 timeouts 0
2025-04-24 11:21:07 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36108/37176
2025-04-24 11:21:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:07 [info] currentZPosition:0.124
2025-04-24 11:21:08 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:08 [debug] Diagnostics for board 50:
2025-04-24 11:21:08 [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 11:21:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:13 ago, cause: software
2025-04-24 11:21:08 [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 11:21:08 [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 11:21:08 [debug] Moves scheduled 15122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6355, max=17045
Sync err accum 107, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:08 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16832, writes 0 timeouts 0
2025-04-24 11:21:08 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36403/37172
2025-04-24 11:21:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:08 [info] currentZPosition:0.124
2025-04-24 11:21:10 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:10 [debug] Diagnostics for board 50:
2025-04-24 11:21:10 [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 11:21:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:14 ago, cause: software
2025-04-24 11:21:10 [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 11:21:10 [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 11:21:10 [debug] Moves scheduled 15126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 98, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:10 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17093, writes 0 timeouts 0
2025-04-24 11:21:10 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36096/37176
2025-04-24 11:21:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:10 [info] currentZPosition:0.124
2025-04-24 11:21:11 [debug] Stopped at height 0.122 mm
2025-04-24 11:21:11 [debug] Diagnostics for board 50:
2025-04-24 11:21:11 [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 11:21:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:16 ago, cause: software
2025-04-24 11:21:11 [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 11:21:11 [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 11:21:11 [debug] Moves scheduled 15130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 92, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:11 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17202, writes 0 timeouts 0
2025-04-24 11:21:11 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37177
2025-04-24 11:21:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:11 [info] currentZPosition:0.122
2025-04-24 11:21:11 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:13 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:13 [debug] Diagnostics for board 50:
2025-04-24 11:21:13 [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 11:21:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:17 ago, cause: software
2025-04-24 11:21:13 [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 11:21:13 [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 11:21:13 [debug] Moves scheduled 15136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:21:13 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20420, writes 0 timeouts 0
2025-04-24 11:21:13 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 294, adv 36104/37177
2025-04-24 11:21:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:13 [info] currentZPosition:0.124
2025-04-24 11:21:14 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:14 [debug] Diagnostics for board 50:
2025-04-24 11:21:14 [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 11:21:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:19 ago, cause: software
2025-04-24 11:21:14 [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 11:21:14 [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 11:21:14 [debug] Moves scheduled 15140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 62, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:14 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16683, writes 0 timeouts 0
2025-04-24 11:21:14 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37177
2025-04-24 11:21:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:14 [info] currentZPosition:0.124
2025-04-24 11:21:15 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:15 [debug] Diagnostics for board 50:
2025-04-24 11:21:15 [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 11:21:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:20 ago, cause: software
2025-04-24 11:21:15 [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 11:21:15 [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 11:21:15 [debug] Moves scheduled 15144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 68, peak jitter -2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:15 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17493, writes 0 timeouts 0
2025-04-24 11:21:15 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37173
2025-04-24 11:21:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8903, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:15 [info] currentZPosition:0.123
2025-04-24 11:21:17 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:17 [debug] Diagnostics for board 50:
2025-04-24 11:21:17 [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 11:21:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:21 ago, cause: software
2025-04-24 11:21:17 [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 11:21:17 [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 11:21:17 [debug] Moves scheduled 15148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 80, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:21:17 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16243, writes 0 timeouts 0
2025-04-24 11:21:17 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37174
2025-04-24 11:21:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:17 [info] currentZPosition:0.124
2025-04-24 11:21:18 [debug] Stopped at height 0.122 mm
2025-04-24 11:21:18 [debug] Diagnostics for board 50:
2025-04-24 11:21:18 [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 11:21:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:23 ago, cause: software
2025-04-24 11:21:18 [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 11:21:18 [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 11:21:18 [debug] Moves scheduled 15152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=555, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:21:18 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17694, writes 11 timeouts 1
2025-04-24 11:21:18 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37174
2025-04-24 11:21:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:18 [info] currentZPosition:0.122
2025-04-24 11:21:18 [debug] Stopped at height 0.122 mm
2025-04-24 11:21:20 [debug] Stopped at height 0.122 mm
2025-04-24 11:21:20 [debug] Diagnostics for board 50:
2025-04-24 11:21:20 [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 11:21:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:25 ago, cause: software
2025-04-24 11:21:20 [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 11:21:20 [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 11:21:20 [debug] Moves scheduled 15158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:20 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20422, writes 0 timeouts 0
2025-04-24 11:21:20 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36267/37174
2025-04-24 11:21:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:20 [info] currentZPosition:0.122
2025-04-24 11:21:21 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:21 [debug] Diagnostics for board 50:
2025-04-24 11:21:21 [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 11:21:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:26 ago, cause: software
2025-04-24 11:21:21 [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 11:21:21 [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 11:21:21 [debug] Moves scheduled 15162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 106, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:21 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16879, writes 0 timeouts 0
2025-04-24 11:21:21 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37176
2025-04-24 11:21:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:21 [info] currentZPosition:0.123
2025-04-24 11:21:22 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:22 [debug] Diagnostics for board 50:
2025-04-24 11:21:22 [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 11:21:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:27 ago, cause: software
2025-04-24 11:21:22 [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 11:21:22 [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 11:21:22 [debug] Moves scheduled 15166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 109, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:22 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16580, writes 0 timeouts 0
2025-04-24 11:21:22 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36147/37174
2025-04-24 11:21:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:22 [info] currentZPosition:0.123
2025-04-24 11:21:24 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:24 [debug] Diagnostics for board 50:
2025-04-24 11:21:24 [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 11:21:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:29 ago, cause: software
2025-04-24 11:21:24 [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 11:21:24 [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 11:21:24 [debug] Moves scheduled 15170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 112, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:24 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17054, writes 0 timeouts 0
2025-04-24 11:21:24 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36105/37176
2025-04-24 11:21:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:24 [info] currentZPosition:0.124
2025-04-24 11:21:25 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:25 [debug] Diagnostics for board 50:
2025-04-24 11:21:25 [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 11:21:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:23:30 ago, cause: software
2025-04-24 11:21:25 [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 11:21:25 [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 11:21:25 [debug] Moves scheduled 15174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933559 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:25 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16566, writes 0 timeouts 0
2025-04-24 11:21:25 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37176
2025-04-24 11:21:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:25 [info] currentZPosition:0.124
2025-04-24 11:21:26 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:26 [debug] Diagnostics for board 50:
2025-04-24 11:21:26 [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 11:21:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:31 ago, cause: software
2025-04-24 11:21:26 [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 11:21:26 [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 11:21:26 [debug] Moves scheduled 15178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:26 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17339, writes 0 timeouts 0
2025-04-24 11:21:26 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37177
2025-04-24 11:21:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:27 [info] currentZPosition:0.123
2025-04-24 11:21:28 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:28 [debug] Diagnostics for board 50:
2025-04-24 11:21:28 [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 11:21:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:33 ago, cause: software
2025-04-24 11:21:28 [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 11:21:28 [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 11:21:28 [debug] Moves scheduled 15182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 97, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:21:28 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16700, writes 0 timeouts 0
2025-04-24 11:21:28 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37174
2025-04-24 11:21:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:28 [info] currentZPosition:0.123
2025-04-24 11:21:29 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:29 [debug] Diagnostics for board 50:
2025-04-24 11:21:29 [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 11:21:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:34 ago, cause: software
2025-04-24 11:21:29 [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 11:21:29 [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 11:21:29 [debug] Moves scheduled 15186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:21:29 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16825, writes 0 timeouts 0
2025-04-24 11:21:29 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36096/37178
2025-04-24 11:21:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:29 [info] currentZPosition:0.124
2025-04-24 11:21:30 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:30 [debug] Diagnostics for board 50:
2025-04-24 11:21:30 [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 11:21:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:35 ago, cause: software
2025-04-24 11:21:30 [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 11:21:30 [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 11:21:30 [debug] Moves scheduled 15190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6578, max=17857
Sync err accum 75, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:21:30 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16559, writes 0 timeouts 0
2025-04-24 11:21:30 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36163/37171
2025-04-24 11:21:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:31 [info] currentZPosition:0.124
2025-04-24 11:21:32 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:32 [debug] Diagnostics for board 50:
2025-04-24 11:21:32 [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 11:21:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:37 ago, cause: software
2025-04-24 11:21:32 [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 11:21:32 [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 11:21:32 [debug] Moves scheduled 15194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 61, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:21:32 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17395, writes 0 timeouts 0
2025-04-24 11:21:32 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37173
2025-04-24 11:21:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:32 [info] currentZPosition:0.124
2025-04-24 11:21:33 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:33 [debug] Diagnostics for board 50:
2025-04-24 11:21:33 [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 11:21:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:38 ago, cause: software
2025-04-24 11:21:33 [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 11:21:33 [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 11:21:33 [debug] Moves scheduled 15198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 71, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:33 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16653, writes 0 timeouts 0
2025-04-24 11:21:33 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37173
2025-04-24 11:21:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:33 [info] currentZPosition:0.123
2025-04-24 11:21:35 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:35 [debug] Diagnostics for board 50:
2025-04-24 11:21:35 [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 11:21:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:39 ago, cause: software
2025-04-24 11:21:35 [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 11:21:35 [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 11:21:35 [debug] Moves scheduled 15202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 82, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:35 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16930, writes 0 timeouts 0
2025-04-24 11:21:35 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36106/37174
2025-04-24 11:21:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:35 [info] currentZPosition:0.124
2025-04-24 11:21:36 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:36 [debug] Diagnostics for board 50:
2025-04-24 11:21:36 [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 11:21:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:41 ago, cause: software
2025-04-24 11:21:36 [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 11:21:36 [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 11:21:36 [debug] Moves scheduled 15206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6097, max=17045
Sync err accum 93, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:36 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17085, writes 0 timeouts 0
2025-04-24 11:21:36 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36165/37173
2025-04-24 11:21:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:36 [info] currentZPosition:0.123
2025-04-24 11:21:36 [debug] Stopped at height 0.122 mm
2025-04-24 11:21:38 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:38 [debug] Diagnostics for board 50:
2025-04-24 11:21:38 [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 11:21:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:42 ago, cause: software
2025-04-24 11:21:38 [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 11:21:38 [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 11:21:38 [debug] Moves scheduled 15212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 102, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:38 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20816, writes 0 timeouts 0
2025-04-24 11:21:38 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37174
2025-04-24 11:21:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:38 [info] currentZPosition:0.124
2025-04-24 11:21:38 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:39 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:39 [debug] Diagnostics for board 50:
2025-04-24 11:21:39 [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 11:21:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:44 ago, cause: software
2025-04-24 11:21:39 [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 11:21:39 [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 11:21:39 [debug] Moves scheduled 15218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 107, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:39 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20639, writes 0 timeouts 0
2025-04-24 11:21:39 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36160/37176
2025-04-24 11:21:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:39 [info] currentZPosition:0.124
2025-04-24 11:21:41 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:41 [debug] Diagnostics for board 50:
2025-04-24 11:21:41 [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 11:21:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:45 ago, cause: software
2025-04-24 11:21:41 [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 11:21:41 [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 11:21:41 [debug] Moves scheduled 15222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6880, max=17045
Sync err accum 108, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294929567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:41 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17586, writes 0 timeouts 0
2025-04-24 11:21:41 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36108/37174
2025-04-24 11:21:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:41 [info] currentZPosition:0.123
2025-04-24 11:21:42 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:42 [debug] Diagnostics for board 50:
2025-04-24 11:21:42 [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 11:21:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:47 ago, cause: software
2025-04-24 11:21:42 [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 11:21:42 [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 11:21:42 [debug] Moves scheduled 15226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 107, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:42 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16433, writes 0 timeouts 0
2025-04-24 11:21:42 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37176
2025-04-24 11:21:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:42 [info] currentZPosition:0.123
2025-04-24 11:21:43 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:43 [debug] Diagnostics for board 50:
2025-04-24 11:21:43 [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 11:21:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:48 ago, cause: software
2025-04-24 11:21:43 [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 11:21:43 [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 11:21:43 [debug] Moves scheduled 15230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:21:43 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17132, writes 0 timeouts 0
2025-04-24 11:21:43 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37176
2025-04-24 11:21:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:43 [info] currentZPosition:0.124
2025-04-24 11:21:45 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:45 [debug] Diagnostics for board 50:
2025-04-24 11:21:45 [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 11:21:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:49 ago, cause: software
2025-04-24 11:21:45 [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 11:21:45 [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 11:21:45 [debug] Moves scheduled 15234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 101, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:45 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16861, writes 0 timeouts 0
2025-04-24 11:21:45 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36163/37176
2025-04-24 11:21:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:45 [info] currentZPosition:0.123
2025-04-24 11:21:46 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:46 [debug] Diagnostics for board 50:
2025-04-24 11:21:46 [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 11:21:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:51 ago, cause: software
2025-04-24 11:21:46 [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 11:21:46 [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 11:21:46 [debug] Moves scheduled 15238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:46 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16682, writes 0 timeouts 0
2025-04-24 11:21:46 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37173
2025-04-24 11:21:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:46 [info] currentZPosition:0.124
2025-04-24 11:21:46 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:48 [debug] Stopped at height 0.125 mm
2025-04-24 11:21:48 [debug] Diagnostics for board 50:
2025-04-24 11:21:48 [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 11:21:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:52 ago, cause: software
2025-04-24 11:21:48 [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 11:21:48 [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 11:21:48 [debug] Moves scheduled 15244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 84, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:48 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20360, writes 0 timeouts 0
2025-04-24 11:21:48 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 293, adv 36146/37174
2025-04-24 11:21:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:48 [info] currentZPosition:0.125
2025-04-24 11:21:49 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:49 [debug] Diagnostics for board 50:
2025-04-24 11:21:49 [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 11:21:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:54 ago, cause: software
2025-04-24 11:21:49 [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 11:21:49 [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 11:21:49 [debug] Moves scheduled 15248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 73, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:49 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17270, writes 0 timeouts 0
2025-04-24 11:21:49 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37178
2025-04-24 11:21:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:49 [info] currentZPosition:0.124
2025-04-24 11:21:50 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:50 [debug] Diagnostics for board 50:
2025-04-24 11:21:50 [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 11:21:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:55 ago, cause: software
2025-04-24 11:21:50 [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 11:21:50 [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 11:21:50 [debug] Moves scheduled 15252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:21:50 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16594, writes 0 timeouts 0
2025-04-24 11:21:50 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37178
2025-04-24 11:21:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:50 [info] currentZPosition:0.124
2025-04-24 11:21:52 [debug] Stopped at height 0.125 mm
2025-04-24 11:21:52 [debug] Diagnostics for board 50:
2025-04-24 11:21:52 [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 11:21:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:57 ago, cause: software
2025-04-24 11:21:52 [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 11:21:52 [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 11:21:52 [debug] Moves scheduled 15256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17857
Sync err accum 70, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:21:52 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17081, writes 0 timeouts 0
2025-04-24 11:21:52 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36094/37177
2025-04-24 11:21:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:52 [info] currentZPosition:0.125
2025-04-24 11:21:53 [warn] Ethernet running, IP address = 192.168.1.14
2025-04-24 11:21:53 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:53 [debug] Diagnostics for board 50:
2025-04-24 11:21:53 [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 11:21:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:58 ago, cause: software
2025-04-24 11:21:53 [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 11:21:53 [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 11:21:53 [debug] Moves scheduled 15260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:21:53 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16910, writes 0 timeouts 0
2025-04-24 11:21:53 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36165/37172
2025-04-24 11:21:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:53 [info] currentZPosition:0.123
2025-04-24 11:21:54 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:54 [debug] Diagnostics for board 50:
2025-04-24 11:21:54 [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 11:21:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:23:59 ago, cause: software
2025-04-24 11:21:54 [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 11:21:54 [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 11:21:54 [debug] Moves scheduled 15264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:21:54 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17401, writes 0 timeouts 0
2025-04-24 11:21:54 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37173
2025-04-24 11:21:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:55 [info] currentZPosition:0.123
2025-04-24 11:21:56 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:56 [debug] Diagnostics for board 50:
2025-04-24 11:21:56 [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 11:21:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:01 ago, cause: software
2025-04-24 11:21:56 [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 11:21:56 [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 11:21:56 [debug] Moves scheduled 15268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6410, max=17857
Sync err accum 86, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:21:56 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16323, writes 0 timeouts 0
2025-04-24 11:21:56 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37171
2025-04-24 11:21:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:56 [info] currentZPosition:0.124
2025-04-24 11:21:56 [warn] HTTP client 192.168.1.2 login succeeded (session key 2932555139)
2025-04-24 11:21:57 [debug] Stopped at height 0.123 mm
2025-04-24 11:21:57 [debug] Diagnostics for board 50:
2025-04-24 11:21:57 [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 11:21:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:02 ago, cause: software
2025-04-24 11:21:57 [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 11:21:57 [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 11:21:57 [debug] Moves scheduled 15272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:57 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17392, writes 0 timeouts 0
2025-04-24 11:21:57 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37174
2025-04-24 11:21:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:57 [info] currentZPosition:0.123
2025-04-24 11:21:58 [debug] Stopped at height 0.124 mm
2025-04-24 11:21:58 [debug] Diagnostics for board 50:
2025-04-24 11:21:58 [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 11:21:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:03 ago, cause: software
2025-04-24 11:21:58 [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 11:21:58 [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 11:21:58 [debug] Moves scheduled 15276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:21:58 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16346, writes 0 timeouts 0
2025-04-24 11:21:58 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37175
2025-04-24 11:21:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:21:59 [info] currentZPosition:0.124
2025-04-24 11:22:00 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:00 [debug] Diagnostics for board 50:
2025-04-24 11:22:00 [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 11:22:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:05 ago, cause: software
2025-04-24 11:22:00 [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 11:22:00 [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 11:22:00 [debug] Moves scheduled 15280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 89, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294928120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:00 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17082, writes 0 timeouts 0
2025-04-24 11:22:00 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37176
2025-04-24 11:22:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:00 [info] currentZPosition:0.125
2025-04-24 11:22:01 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:01 [debug] Diagnostics for board 50:
2025-04-24 11:22:01 [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 11:22:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:06 ago, cause: software
2025-04-24 11:22:01 [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 11:22:01 [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 11:22:01 [debug] Moves scheduled 15284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 85, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:01 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16766, writes 0 timeouts 0
2025-04-24 11:22:01 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36153/37175
2025-04-24 11:22:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:01 [info] currentZPosition:0.124
2025-04-24 11:22:03 [debug] Stopped at height 0.123 mm
2025-04-24 11:22:03 [debug] Diagnostics for board 50:
2025-04-24 11:22:03 [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 11:22:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:07 ago, cause: software
2025-04-24 11:22:03 [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 11:22:03 [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 11:22:03 [debug] Moves scheduled 15288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6250, max=17441
Sync err accum 80, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:03 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17476, writes 0 timeouts 0
2025-04-24 11:22:03 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37177
2025-04-24 11:22:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:03 [info] currentZPosition:0.123
2025-04-24 11:22:04 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:04 [debug] Diagnostics for board 50:
2025-04-24 11:22:04 [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 11:22:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:09 ago, cause: software
2025-04-24 11:22:04 [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 11:22:04 [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 11:22:04 [debug] Moves scheduled 15292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 69, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:04 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16394, writes 0 timeouts 0
2025-04-24 11:22:04 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37176
2025-04-24 11:22:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:04 [info] currentZPosition:0.124
2025-04-24 11:22:05 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:05 [debug] Diagnostics for board 50:
2025-04-24 11:22:05 [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 11:22:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:10 ago, cause: software
2025-04-24 11:22:05 [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 11:22:05 [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 11:22:05 [debug] Moves scheduled 15296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17441
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:05 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17313, writes 0 timeouts 0
2025-04-24 11:22:05 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37177
2025-04-24 11:22:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:05 [info] currentZPosition:0.124
2025-04-24 11:22:07 [debug] Stopped at height 0.123 mm
2025-04-24 11:22:07 [debug] Diagnostics for board 50:
2025-04-24 11:22:07 [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 11:22:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:11 ago, cause: software
2025-04-24 11:22:07 [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 11:22:07 [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 11:22:07 [debug] Moves scheduled 15300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=18292
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 4294935357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:07 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16859, writes 0 timeouts 0
2025-04-24 11:22:07 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37172
2025-04-24 11:22:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:07 [info] currentZPosition:0.123
2025-04-24 11:22:08 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:08 [debug] Diagnostics for board 50:
2025-04-24 11:22:08 [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 11:22:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:13 ago, cause: software
2025-04-24 11:22:08 [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 11:22:08 [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 11:22:08 [debug] Moves scheduled 15304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294933865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 11:22:08 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16498, writes 0 timeouts 0
2025-04-24 11:22:08 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37167
2025-04-24 11:22:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 806
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:08 [info] currentZPosition:0.125
2025-04-24 11:22:08 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:10 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:10 [debug] Diagnostics for board 50:
2025-04-24 11:22:10 [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 11:22:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:14 ago, cause: software
2025-04-24 11:22:10 [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 11:22:10 [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 11:22:10 [debug] Moves scheduled 15310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=5681, max=17857
Sync err accum 93, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:10 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20922, writes 0 timeouts 0
2025-04-24 11:22:10 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 292, adv 36163/37175
2025-04-24 11:22:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:10 [info] currentZPosition:0.124
2025-04-24 11:22:11 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:11 [debug] Diagnostics for board 50:
2025-04-24 11:22:11 [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 11:22:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:16 ago, cause: software
2025-04-24 11:22:11 [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 11:22:11 [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 11:22:11 [debug] Moves scheduled 15314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17857
Sync err accum 98, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:11 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17111, writes 0 timeouts 0
2025-04-24 11:22:11 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36101/37174
2025-04-24 11:22:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:11 [info] currentZPosition:0.124
2025-04-24 11:22:12 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:12 [debug] Diagnostics for board 50:
2025-04-24 11:22:12 [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 11:22:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:17 ago, cause: software
2025-04-24 11:22:12 [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 11:22:12 [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 11:22:12 [debug] Moves scheduled 15318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 102, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:12 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16788, writes 0 timeouts 0
2025-04-24 11:22:12 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36278/37175
2025-04-24 11:22:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:12 [info] currentZPosition:0.124
2025-04-24 11:22:14 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:14 [debug] Diagnostics for board 50:
2025-04-24 11:22:14 [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 11:22:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:19 ago, cause: software
2025-04-24 11:22:14 [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 11:22:14 [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 11:22:14 [debug] Moves scheduled 15322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6250, max=17857
Sync err accum 103, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:14 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17364, writes 0 timeouts 0
2025-04-24 11:22:14 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37175
2025-04-24 11:22:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:14 [info] currentZPosition:0.124
2025-04-24 11:22:15 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:15 [debug] Diagnostics for board 50:
2025-04-24 11:22:15 [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 11:22:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:20 ago, cause: software
2025-04-24 11:22:15 [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 11:22:15 [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 11:22:15 [debug] Moves scheduled 15326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:22:15 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16569, writes 0 timeouts 0
2025-04-24 11:22:15 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37177
2025-04-24 11:22:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:15 [info] currentZPosition:0.124
2025-04-24 11:22:16 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:16 [debug] Diagnostics for board 50:
2025-04-24 11:22:16 [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 11:22:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:21 ago, cause: software
2025-04-24 11:22:16 [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 11:22:16 [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 11:22:16 [debug] Moves scheduled 15330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 97, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:16 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17029, writes 0 timeouts 0
2025-04-24 11:22:16 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35785/37174
2025-04-24 11:22:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:16 [info] currentZPosition:0.124
2025-04-24 11:22:18 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:18 [debug] Diagnostics for board 50:
2025-04-24 11:22:18 [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 11:22:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:23 ago, cause: software
2025-04-24 11:22:18 [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 11:22:18 [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 11:22:18 [debug] Moves scheduled 15334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 92, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:18 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16732, writes 0 timeouts 0
2025-04-24 11:22:18 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36401/37176
2025-04-24 11:22:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:18 [info] currentZPosition:0.124
2025-04-24 11:22:19 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:19 [debug] Diagnostics for board 50:
2025-04-24 11:22:19 [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 11:22:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:24 ago, cause: software
2025-04-24 11:22:19 [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 11:22:19 [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 11:22:19 [debug] Moves scheduled 15338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 85, peak jitter -1/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:19 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17890, writes 0 timeouts 0
2025-04-24 11:22:19 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37171
2025-04-24 11:22:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:19 [info] currentZPosition:0.124
2025-04-24 11:22:20 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:20 [debug] Diagnostics for board 50:
2025-04-24 11:22:20 [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 11:22:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:25 ago, cause: software
2025-04-24 11:22:20 [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 11:22:20 [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 11:22:20 [debug] Moves scheduled 15342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17441
Sync err accum 77, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:20 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16570, writes 0 timeouts 0
2025-04-24 11:22:20 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37178
2025-04-24 11:22:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:21 [info] currentZPosition:0.124
2025-04-24 11:22:22 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:22 [debug] Diagnostics for board 50:
2025-04-24 11:22:22 [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 11:22:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:27 ago, cause: software
2025-04-24 11:22:22 [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 11:22:22 [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 11:22:22 [debug] Moves scheduled 15346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:22 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17351, writes 0 timeouts 0
2025-04-24 11:22:22 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37175
2025-04-24 11:22:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:22 [info] currentZPosition:0.124
2025-04-24 11:22:23 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:23 [debug] Diagnostics for board 50:
2025-04-24 11:22:23 [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 11:22:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:28 ago, cause: software
2025-04-24 11:22:23 [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 11:22:23 [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 11:22:23 [debug] Moves scheduled 15350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 65, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:23 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16624, writes 0 timeouts 0
2025-04-24 11:22:23 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37178
2025-04-24 11:22:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:23 [info] currentZPosition:0.124
2025-04-24 11:22:25 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:25 [debug] Diagnostics for board 50:
2025-04-24 11:22:25 [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 11:22:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:29 ago, cause: software
2025-04-24 11:22:25 [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 11:22:25 [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 11:22:25 [debug] Moves scheduled 15354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:25 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17092, writes 0 timeouts 0
2025-04-24 11:22:25 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37173
2025-04-24 11:22:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:25 [info] currentZPosition:0.124
2025-04-24 11:22:26 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:26 [debug] Diagnostics for board 50:
2025-04-24 11:22:26 [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 11:22:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:31 ago, cause: software
2025-04-24 11:22:26 [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 11:22:26 [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 11:22:26 [debug] Moves scheduled 15358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:26 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16819, writes 0 timeouts 0
2025-04-24 11:22:26 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37174
2025-04-24 11:22:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:26 [info] currentZPosition:0.124
2025-04-24 11:22:27 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:27 [debug] Diagnostics for board 50:
2025-04-24 11:22:27 [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 11:22:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:32 ago, cause: software
2025-04-24 11:22:27 [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 11:22:27 [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 11:22:27 [debug] Moves scheduled 15362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6521, max=17045
Sync err accum 90, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:27 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17193, writes 0 timeouts 0
2025-04-24 11:22:27 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37174
2025-04-24 11:22:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:27 [info] currentZPosition:0.124
2025-04-24 11:22:29 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:29 [debug] Diagnostics for board 50:
2025-04-24 11:22:29 [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 11:22:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:33 ago, cause: software
2025-04-24 11:22:29 [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 11:22:29 [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 11:22:29 [debug] Moves scheduled 15366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6198, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:29 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16680, writes 0 timeouts 0
2025-04-24 11:22:29 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36377/37174
2025-04-24 11:22:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:29 [info] currentZPosition:0.124
2025-04-24 11:22:30 [debug] Stopped at height 0.123 mm
2025-04-24 11:22:30 [debug] Diagnostics for board 50:
2025-04-24 11:22:30 [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 11:22:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:35 ago, cause: software
2025-04-24 11:22:30 [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 11:22:30 [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 11:22:30 [debug] Moves scheduled 15370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 93, peak jitter 0/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:30 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17464, writes 0 timeouts 0
2025-04-24 11:22:30 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37176
2025-04-24 11:22:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:30 [info] currentZPosition:0.123
2025-04-24 11:22:31 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:31 [debug] Diagnostics for board 50:
2025-04-24 11:22:31 [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 11:22:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:36 ago, cause: software
2025-04-24 11:22:31 [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 11:22:31 [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 11:22:31 [debug] Moves scheduled 15374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:31 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16159, writes 0 timeouts 0
2025-04-24 11:22:31 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36403/37178
2025-04-24 11:22:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:31 [info] currentZPosition:0.125
2025-04-24 11:22:32 [debug] Stopped at height 0.123 mm
2025-04-24 11:22:33 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:33 [debug] Diagnostics for board 50:
2025-04-24 11:22:33 [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 11:22:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:38 ago, cause: software
2025-04-24 11:22:33 [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 11:22:33 [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 11:22:33 [debug] Moves scheduled 15380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:33 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 21174, writes 0 timeouts 0
2025-04-24 11:22:33 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37177
2025-04-24 11:22:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:33 [info] currentZPosition:0.125
2025-04-24 11:22:33 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:35 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:35 [debug] Diagnostics for board 50:
2025-04-24 11:22:35 [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 11:22:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:40 ago, cause: software
2025-04-24 11:22:35 [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 11:22:35 [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 11:22:35 [debug] Moves scheduled 15386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6465, max=17045
Sync err accum 75, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:35 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20736, writes 0 timeouts 0
2025-04-24 11:22:35 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36401/37176
2025-04-24 11:22:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:35 [info] currentZPosition:0.124
2025-04-24 11:22:36 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:36 [debug] Diagnostics for board 50:
2025-04-24 11:22:36 [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 11:22:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:41 ago, cause: software
2025-04-24 11:22:36 [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 11:22:36 [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 11:22:36 [debug] Moves scheduled 15390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6410, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:36 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17256, writes 0 timeouts 0
2025-04-24 11:22:36 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36109/37177
2025-04-24 11:22:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:36 [info] currentZPosition:0.124
2025-04-24 11:22:37 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:37 [debug] Diagnostics for board 50:
2025-04-24 11:22:37 [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 11:22:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:42 ago, cause: software
2025-04-24 11:22:37 [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 11:22:37 [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 11:22:37 [debug] Moves scheduled 15394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 68, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:37 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16285, writes 0 timeouts 0
2025-04-24 11:22:37 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37177
2025-04-24 11:22:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:37 [info] currentZPosition:0.125
2025-04-24 11:22:39 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:39 [debug] Diagnostics for board 50:
2025-04-24 11:22:39 [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 11:22:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:44 ago, cause: software
2025-04-24 11:22:39 [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 11:22:39 [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 11:22:39 [debug] Moves scheduled 15398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17857
Sync err accum 80, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:39 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17544, writes 0 timeouts 0
2025-04-24 11:22:39 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37170
2025-04-24 11:22:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:39 [info] currentZPosition:0.124
2025-04-24 11:22:40 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:40 [debug] Diagnostics for board 50:
2025-04-24 11:22:40 [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 11:22:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:45 ago, cause: software
2025-04-24 11:22:40 [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 11:22:40 [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 11:22:40 [debug] Moves scheduled 15402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:40 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16525, writes 0 timeouts 0
2025-04-24 11:22:40 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37173
2025-04-24 11:22:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:40 [info] currentZPosition:0.125
2025-04-24 11:22:41 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:41 [debug] Diagnostics for board 50:
2025-04-24 11:22:41 [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 11:22:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:46 ago, cause: software
2025-04-24 11:22:41 [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 11:22:41 [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 11:22:41 [debug] Moves scheduled 15406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 92, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:41 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17371, writes 0 timeouts 0
2025-04-24 11:22:41 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37175
2025-04-24 11:22:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:42 [info] currentZPosition:0.124
2025-04-24 11:22:43 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:43 [debug] Diagnostics for board 50:
2025-04-24 11:22:43 [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 11:22:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:24:48 ago, cause: software
2025-04-24 11:22:43 [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 11:22:43 [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 11:22:43 [debug] Moves scheduled 15410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 98, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:43 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16327, writes 0 timeouts 0
2025-04-24 11:22:43 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36394/37177
2025-04-24 11:22:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:43 [info] currentZPosition:0.125
2025-04-24 11:22:44 [debug] Stopped at height 0.123 mm
2025-04-24 11:22:44 [debug] Diagnostics for board 50:
2025-04-24 11:22:44 [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 11:22:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:49 ago, cause: software
2025-04-24 11:22:44 [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 11:22:44 [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 11:22:44 [debug] Moves scheduled 15414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=862, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:44 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17949, writes 11 timeouts 1
2025-04-24 11:22:44 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:22:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:44 [info] currentZPosition:0.123
2025-04-24 11:22:45 [debug] Stopped at height 0.122 mm
2025-04-24 11:22:46 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:46 [debug] Diagnostics for board 50:
2025-04-24 11:22:46 [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 11:22:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:51 ago, cause: software
2025-04-24 11:22:46 [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 11:22:46 [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 11:22:46 [debug] Moves scheduled 15420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=18292
Sync err accum 100, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:46 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20340, writes 0 timeouts 0
2025-04-24 11:22:46 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36397/37176
2025-04-24 11:22:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4559, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:46 [info] currentZPosition:0.124
2025-04-24 11:22:46 [debug] Stopped at height 0.122 mm
2025-04-24 11:22:48 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:48 [debug] Diagnostics for board 50:
2025-04-24 11:22:48 [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 11:22:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:52 ago, cause: software
2025-04-24 11:22:48 [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 11:22:48 [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 11:22:48 [debug] Moves scheduled 15426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:48 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20739, writes 0 timeouts 0
2025-04-24 11:22:48 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37176
2025-04-24 11:22:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:48 [info] currentZPosition:0.125
2025-04-24 11:22:48 [debug] Stopped at height 0.123 mm
2025-04-24 11:22:49 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:49 [debug] Diagnostics for board 50:
2025-04-24 11:22:49 [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 11:22:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:54 ago, cause: software
2025-04-24 11:22:49 [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 11:22:49 [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 11:22:49 [debug] Moves scheduled 15432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6147, max=18292
Sync err accum 85, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:49 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20488, writes 0 timeouts 0
2025-04-24 11:22:49 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37174
2025-04-24 11:22:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:49 [info] currentZPosition:0.125
2025-04-24 11:22:50 [debug] Stopped at height 0.127 mm
2025-04-24 11:22:51 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:51 [debug] Diagnostics for board 50:
2025-04-24 11:22:51 [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 11:22:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:56 ago, cause: software
2025-04-24 11:22:51 [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 11:22:51 [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 11:22:51 [debug] Moves scheduled 15438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:22:51 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 21323, writes 0 timeouts 0
2025-04-24 11:22:51 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36101/37175
2025-04-24 11:22:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:51 [info] currentZPosition:0.124
2025-04-24 11:22:51 [debug] Stopped at height 0.126 mm
2025-04-24 11:22:52 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:52 [debug] Diagnostics for board 50:
2025-04-24 11:22:52 [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 11:22:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:57 ago, cause: software
2025-04-24 11:22:52 [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 11:22:52 [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 11:22:52 [debug] Moves scheduled 15444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6578, max=18292
Sync err accum 64, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:52 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20165, writes 0 timeouts 0
2025-04-24 11:22:52 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37176
2025-04-24 11:22:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:53 [info] currentZPosition:0.125
2025-04-24 11:22:53 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:54 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:54 [debug] Diagnostics for board 50:
2025-04-24 11:22:54 [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 11:22:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:24:59 ago, cause: software
2025-04-24 11:22:54 [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 11:22:54 [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 11:22:54 [debug] Moves scheduled 15450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6048, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:54 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 21098, writes 0 timeouts 0
2025-04-24 11:22:54 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37174
2025-04-24 11:22:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:54 [info] currentZPosition:0.125
2025-04-24 11:22:56 [debug] Stopped at height 0.125 mm
2025-04-24 11:22:56 [debug] Diagnostics for board 50:
2025-04-24 11:22:56 [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 11:22:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:00 ago, cause: software
2025-04-24 11:22:56 [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 11:22:56 [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 11:22:56 [debug] Moves scheduled 15454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294928993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:56 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16869, writes 0 timeouts 0
2025-04-24 11:22:56 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37175
2025-04-24 11:22:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:56 [info] currentZPosition:0.125
2025-04-24 11:22:57 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:57 [debug] Diagnostics for board 50:
2025-04-24 11:22:57 [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 11:22:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:02 ago, cause: software
2025-04-24 11:22:57 [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 11:22:57 [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 11:22:57 [debug] Moves scheduled 15458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=678, max=17857
Sync err accum 70, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:22:57 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17470, writes 11 timeouts 1
2025-04-24 11:22:57 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37175
2025-04-24 11:22:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:57 [info] currentZPosition:0.124
2025-04-24 11:22:58 [debug] Stopped at height 0.124 mm
2025-04-24 11:22:58 [debug] Diagnostics for board 50:
2025-04-24 11:22:58 [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 11:22:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:03 ago, cause: software
2025-04-24 11:22:58 [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 11:22:58 [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 11:22:58 [debug] Moves scheduled 15462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 67, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:22:58 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16686, writes 0 timeouts 0
2025-04-24 11:22:58 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37178
2025-04-24 11:22:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:22:58 [info] currentZPosition:0.124
2025-04-24 11:23:00 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:00 [debug] Diagnostics for board 50:
2025-04-24 11:23:00 [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 11:23:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:04 ago, cause: software
2025-04-24 11:23:00 [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 11:23:00 [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 11:23:00 [debug] Moves scheduled 15466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 62, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:00 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16778, writes 0 timeouts 0
2025-04-24 11:23:00 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37178
2025-04-24 11:23:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:00 [info] currentZPosition:0.126
2025-04-24 11:23:00 [debug] Stopped at height 0.124 mm
2025-04-24 11:23:01 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:01 [debug] Diagnostics for board 50:
2025-04-24 11:23:01 [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 11:23:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:06 ago, cause: software
2025-04-24 11:23:01 [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 11:23:01 [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 11:23:01 [debug] Moves scheduled 15472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6410, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:01 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 20349, writes 0 timeouts 0
2025-04-24 11:23:01 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37174
2025-04-24 11:23:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:01 [info] currentZPosition:0.126
2025-04-24 11:23:02 [debug] Stopped at height 0.124 mm
2025-04-24 11:23:03 [debug] Stopped at height 0.124 mm
2025-04-24 11:23:03 [debug] Diagnostics for board 50:
2025-04-24 11:23:03 [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 11:23:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:08 ago, cause: software
2025-04-24 11:23:03 [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 11:23:03 [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 11:23:03 [debug] Moves scheduled 15478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:03 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21840, writes 0 timeouts 0
2025-04-24 11:23:03 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37176
2025-04-24 11:23:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:03 [info] currentZPosition:0.124
2025-04-24 11:23:04 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:04 [debug] Diagnostics for board 50:
2025-04-24 11:23:04 [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 11:23:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:09 ago, cause: software
2025-04-24 11:23:04 [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 11:23:04 [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 11:23:04 [debug] Moves scheduled 15482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:04 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 15979, writes 0 timeouts 0
2025-04-24 11:23:04 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36401/37176
2025-04-24 11:23:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8858, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:04 [info] currentZPosition:0.126
2025-04-24 11:23:05 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:06 [debug] Stopped at height 0.127 mm
2025-04-24 11:23:06 [debug] Diagnostics for board 50:
2025-04-24 11:23:06 [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 11:23:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:11 ago, cause: software
2025-04-24 11:23:06 [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 11:23:06 [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 11:23:06 [debug] Moves scheduled 15488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 90, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:06 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20951, writes 0 timeouts 0
2025-04-24 11:23:06 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 11:23:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:06 [info] currentZPosition:0.127
2025-04-24 11:23:06 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:08 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:08 [debug] Diagnostics for board 50:
2025-04-24 11:23:08 [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 11:23:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:12 ago, cause: software
2025-04-24 11:23:08 [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 11:23:08 [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 11:23:08 [debug] Moves scheduled 15494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:08 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20915, writes 0 timeouts 0
2025-04-24 11:23:08 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36270/37177
2025-04-24 11:23:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:08 [info] currentZPosition:0.125
2025-04-24 11:23:09 [debug] Stopped at height 0.127 mm
2025-04-24 11:23:09 [debug] Diagnostics for board 50:
2025-04-24 11:23:09 [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 11:23:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:14 ago, cause: software
2025-04-24 11:23:09 [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 11:23:09 [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 11:23:09 [debug] Moves scheduled 15498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5905, max=17045
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 4294931414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:09 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16773, writes 0 timeouts 0
2025-04-24 11:23:09 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37178
2025-04-24 11:23:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:09 [info] currentZPosition:0.127
2025-04-24 11:23:09 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:11 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:11 [debug] Diagnostics for board 50:
2025-04-24 11:23:11 [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 11:23:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:15 ago, cause: software
2025-04-24 11:23:11 [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 11:23:11 [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 11:23:11 [debug] Moves scheduled 15504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 73, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:11 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20937, writes 0 timeouts 0
2025-04-24 11:23:11 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37177
2025-04-24 11:23:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:11 [info] currentZPosition:0.125
2025-04-24 11:23:12 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:12 [debug] Diagnostics for board 50:
2025-04-24 11:23:12 [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 11:23:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:25:17 ago, cause: software
2025-04-24 11:23:12 [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 11:23:12 [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 11:23:12 [debug] Moves scheduled 15508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 66, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:12 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16983, writes 0 timeouts 0
2025-04-24 11:23:12 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37176
2025-04-24 11:23:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:12 [info] currentZPosition:0.126
2025-04-24 11:23:13 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:13 [debug] Diagnostics for board 50:
2025-04-24 11:23:13 [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 11:23:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:18 ago, cause: software
2025-04-24 11:23:13 [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 11:23:13 [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 11:23:13 [debug] Moves scheduled 15512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 67, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294931641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:13 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16765, writes 0 timeouts 0
2025-04-24 11:23:13 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37177
2025-04-24 11:23:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:13 [info] currentZPosition:0.126
2025-04-24 11:23:15 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:15 [debug] Diagnostics for board 50:
2025-04-24 11:23:15 [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 11:23:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:20 ago, cause: software
2025-04-24 11:23:15 [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 11:23:15 [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 11:23:15 [debug] Moves scheduled 15516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 78, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:15 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17514, writes 0 timeouts 0
2025-04-24 11:23:15 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 11:23:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:15 [info] currentZPosition:0.125
2025-04-24 11:23:16 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:16 [debug] Diagnostics for board 50:
2025-04-24 11:23:16 [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 11:23:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:21 ago, cause: software
2025-04-24 11:23:16 [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 11:23:16 [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 11:23:16 [debug] Moves scheduled 15520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 87, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:16 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16327, writes 0 timeouts 0
2025-04-24 11:23:16 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36152/37173
2025-04-24 11:23:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:16 [info] currentZPosition:0.126
2025-04-24 11:23:17 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:17 [debug] Diagnostics for board 50:
2025-04-24 11:23:17 [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 11:23:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:22 ago, cause: software
2025-04-24 11:23:17 [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 11:23:17 [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 11:23:17 [debug] Moves scheduled 15524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 93, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:17 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17286, writes 0 timeouts 0
2025-04-24 11:23:17 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37173
2025-04-24 11:23:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:17 [info] currentZPosition:0.126
2025-04-24 11:23:19 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:19 [debug] Diagnostics for board 50:
2025-04-24 11:23:19 [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 11:23:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:24 ago, cause: software
2025-04-24 11:23:19 [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 11:23:19 [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 11:23:19 [debug] Moves scheduled 15528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:19 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16641, writes 0 timeouts 0
2025-04-24 11:23:19 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37175
2025-04-24 11:23:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:19 [info] currentZPosition:0.126
2025-04-24 11:23:20 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:20 [debug] Diagnostics for board 50:
2025-04-24 11:23:20 [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 11:23:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:25 ago, cause: software
2025-04-24 11:23:20 [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 11:23:20 [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 11:23:20 [debug] Moves scheduled 15532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:20 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17069, writes 0 timeouts 0
2025-04-24 11:23:20 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37170
2025-04-24 11:23:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:20 [info] currentZPosition:0.126
2025-04-24 11:23:21 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:21 [debug] Diagnostics for board 50:
2025-04-24 11:23:21 [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 11:23:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:26 ago, cause: software
2025-04-24 11:23:21 [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 11:23:21 [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 11:23:21 [debug] Moves scheduled 15536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 105, peak jitter 0/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:21 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16824, writes 0 timeouts 0
2025-04-24 11:23:21 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37177
2025-04-24 11:23:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:22 [info] currentZPosition:0.125
2025-04-24 11:23:23 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:23 [debug] Diagnostics for board 50:
2025-04-24 11:23:23 [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 11:23:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:28 ago, cause: software
2025-04-24 11:23:23 [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 11:23:23 [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 11:23:23 [debug] Moves scheduled 15540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17441
Sync err accum 104, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:23 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17011, writes 0 timeouts 0
2025-04-24 11:23:23 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37175
2025-04-24 11:23:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:23 [info] currentZPosition:0.126
2025-04-24 11:23:24 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:24 [debug] Diagnostics for board 50:
2025-04-24 11:23:24 [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 11:23:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:29 ago, cause: software
2025-04-24 11:23:24 [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 11:23:24 [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 11:23:24 [debug] Moves scheduled 15544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6521, max=17045
Sync err accum 98, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:24 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16768, writes 0 timeouts 0
2025-04-24 11:23:24 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36166/37178
2025-04-24 11:23:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:24 [info] currentZPosition:0.126
2025-04-24 11:23:26 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:26 [debug] Diagnostics for board 50:
2025-04-24 11:23:26 [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 11:23:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:30 ago, cause: software
2025-04-24 11:23:26 [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 11:23:26 [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 11:23:26 [debug] Moves scheduled 15548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6097, max=17857
Sync err accum 90, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:26 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17558, writes 0 timeouts 0
2025-04-24 11:23:26 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36094/37177
2025-04-24 11:23:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:26 [info] currentZPosition:0.125
2025-04-24 11:23:27 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:27 [debug] Diagnostics for board 50:
2025-04-24 11:23:27 [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 11:23:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:32 ago, cause: software
2025-04-24 11:23:27 [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 11:23:27 [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 11:23:27 [debug] Moves scheduled 15552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 78, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:27 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16605, writes 0 timeouts 0
2025-04-24 11:23:27 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36168/37176
2025-04-24 11:23:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:27 [info] currentZPosition:0.125
2025-04-24 11:23:28 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:28 [debug] Diagnostics for board 50:
2025-04-24 11:23:28 [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 11:23:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:33 ago, cause: software
2025-04-24 11:23:28 [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 11:23:28 [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 11:23:28 [debug] Moves scheduled 15556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17857
Sync err accum 66, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:23:28 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16889, writes 0 timeouts 0
2025-04-24 11:23:28 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36097/37175
2025-04-24 11:23:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:28 [info] currentZPosition:0.126
2025-04-24 11:23:30 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:30 [debug] Diagnostics for board 50:
2025-04-24 11:23:30 [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 11:23:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:34 ago, cause: software
2025-04-24 11:23:30 [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 11:23:30 [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 11:23:30 [debug] Moves scheduled 15560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6302, max=17045
Sync err accum 60, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:30 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16731, writes 0 timeouts 0
2025-04-24 11:23:30 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36163/37177
2025-04-24 11:23:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:30 [info] currentZPosition:0.126
2025-04-24 11:23:31 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:31 [debug] Diagnostics for board 50:
2025-04-24 11:23:31 [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 11:23:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:25:36 ago, cause: software
2025-04-24 11:23:31 [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 11:23:31 [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 11:23:31 [debug] Moves scheduled 15564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter 2/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:31 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17160, writes 0 timeouts 0
2025-04-24 11:23:31 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37167
2025-04-24 11:23:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:31 [info] currentZPosition:0.126
2025-04-24 11:23:32 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:32 [debug] Diagnostics for board 50:
2025-04-24 11:23:32 [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 11:23:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:37 ago, cause: software
2025-04-24 11:23:32 [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 11:23:32 [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 11:23:32 [debug] Moves scheduled 15568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6355, max=17045
Sync err accum 94, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:32 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16795, writes 0 timeouts 0
2025-04-24 11:23:32 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37172
2025-04-24 11:23:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:32 [info] currentZPosition:0.126
2025-04-24 11:23:34 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:34 [debug] Diagnostics for board 50:
2025-04-24 11:23:34 [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 11:23:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:39 ago, cause: software
2025-04-24 11:23:34 [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 11:23:34 [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 11:23:34 [debug] Moves scheduled 15572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=18292
Sync err accum 103, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:34 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17180, writes 0 timeouts 0
2025-04-24 11:23:34 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37175
2025-04-24 11:23:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:34 [info] currentZPosition:0.126
2025-04-24 11:23:35 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:35 [debug] Diagnostics for board 50:
2025-04-24 11:23:35 [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 11:23:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:40 ago, cause: software
2025-04-24 11:23:35 [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 11:23:35 [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 11:23:35 [debug] Moves scheduled 15576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 108, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:35 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16634, writes 0 timeouts 0
2025-04-24 11:23:35 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36165/37172
2025-04-24 11:23:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:35 [info] currentZPosition:0.126
2025-04-24 11:23:36 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:36 [debug] Diagnostics for board 50:
2025-04-24 11:23:36 [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 11:23:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:41 ago, cause: software
2025-04-24 11:23:36 [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 11:23:36 [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 11:23:36 [debug] Moves scheduled 15580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 110, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294927196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:36 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17386, writes 0 timeouts 0
2025-04-24 11:23:36 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37177
2025-04-24 11:23:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:36 [info] currentZPosition:0.126
2025-04-24 11:23:38 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:38 [debug] Diagnostics for board 50:
2025-04-24 11:23:38 [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 11:23:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:43 ago, cause: software
2025-04-24 11:23:38 [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 11:23:38 [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 11:23:38 [debug] Moves scheduled 15584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=6637, max=17857
Sync err accum 110, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:38 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16715, writes 0 timeouts 0
2025-04-24 11:23:38 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37176
2025-04-24 11:23:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:38 [info] currentZPosition:0.125
2025-04-24 11:23:39 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:39 [debug] Diagnostics for board 50:
2025-04-24 11:23:39 [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 11:23:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:44 ago, cause: software
2025-04-24 11:23:39 [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 11:23:39 [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 11:23:39 [debug] Moves scheduled 15588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6696, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:23:39 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16905, writes 0 timeouts 0
2025-04-24 11:23:39 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37172
2025-04-24 11:23:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:39 [info] currentZPosition:0.126
2025-04-24 11:23:40 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:40 [debug] Diagnostics for board 50:
2025-04-24 11:23:40 [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 11:23:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:45 ago, cause: software
2025-04-24 11:23:40 [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 11:23:40 [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 11:23:40 [debug] Moves scheduled 15592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 105, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:40 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17187, writes 0 timeouts 0
2025-04-24 11:23:40 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37176
2025-04-24 11:23:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:41 [info] currentZPosition:0.125
2025-04-24 11:23:41 [debug] Stopped at height 0.123 mm
2025-04-24 11:23:42 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:42 [debug] Diagnostics for board 50:
2025-04-24 11:23:42 [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 11:23:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:47 ago, cause: software
2025-04-24 11:23:42 [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 11:23:42 [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 11:23:42 [debug] Moves scheduled 15598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 98, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:42 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20997, writes 0 timeouts 0
2025-04-24 11:23:42 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37176
2025-04-24 11:23:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:42 [info] currentZPosition:0.126
2025-04-24 11:23:43 [debug] Stopped at height 0.124 mm
2025-04-24 11:23:44 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:44 [debug] Diagnostics for board 50:
2025-04-24 11:23:44 [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 11:23:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:49 ago, cause: software
2025-04-24 11:23:44 [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 11:23:44 [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 11:23:44 [debug] Moves scheduled 15604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 85, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:23:44 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20270, writes 0 timeouts 0
2025-04-24 11:23:44 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37178
2025-04-24 11:23:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:44 [info] currentZPosition:0.126
2025-04-24 11:23:44 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:45 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:45 [debug] Diagnostics for board 50:
2025-04-24 11:23:45 [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 11:23:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:50 ago, cause: software
2025-04-24 11:23:45 [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 11:23:45 [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 11:23:45 [debug] Moves scheduled 15610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=108, frequency (Hz): min=6302, max=17045
Sync err accum 69, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:23:45 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 21195, writes 0 timeouts 0
2025-04-24 11:23:45 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37179
2025-04-24 11:23:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:46 [info] currentZPosition:0.126
2025-04-24 11:23:47 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:47 [debug] Diagnostics for board 50:
2025-04-24 11:23:47 [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 11:23:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:52 ago, cause: software
2025-04-24 11:23:47 [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 11:23:47 [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 11:23:47 [debug] Moves scheduled 15614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6696, max=17045
Sync err accum 58, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:47 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17084, writes 0 timeouts 0
2025-04-24 11:23:47 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37175
2025-04-24 11:23:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:47 [info] currentZPosition:0.125
2025-04-24 11:23:47 [debug] Stopped at height 0.124 mm
2025-04-24 11:23:49 [debug] Stopped at height 0.125 mm
2025-04-24 11:23:49 [debug] Diagnostics for board 50:
2025-04-24 11:23:49 [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 11:23:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:53 ago, cause: software
2025-04-24 11:23:49 [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 11:23:49 [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 11:23:49 [debug] Moves scheduled 15620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 77, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:49 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 20888, writes 0 timeouts 0
2025-04-24 11:23:49 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37173
2025-04-24 11:23:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:49 [info] currentZPosition:0.125
2025-04-24 11:23:50 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:50 [debug] Diagnostics for board 50:
2025-04-24 11:23:50 [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 11:23:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:55 ago, cause: software
2025-04-24 11:23:50 [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 11:23:50 [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 11:23:50 [debug] Moves scheduled 15624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=7009, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:50 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16565, writes 0 timeouts 0
2025-04-24 11:23:50 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37171
2025-04-24 11:23:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:50 [info] currentZPosition:0.126
2025-04-24 11:23:51 [debug] Stopped at height 0.127 mm
2025-04-24 11:23:51 [debug] Diagnostics for board 50:
2025-04-24 11:23:51 [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 11:23:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:56 ago, cause: software
2025-04-24 11:23:51 [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 11:23:51 [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 11:23:51 [debug] Moves scheduled 15628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 96, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:51 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16847, writes 0 timeouts 0
2025-04-24 11:23:51 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37174
2025-04-24 11:23:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:51 [info] currentZPosition:0.127
2025-04-24 11:23:52 [debug] Stopped at height 0.127 mm
2025-04-24 11:23:53 [debug] Stopped at height 0.127 mm
2025-04-24 11:23:53 [debug] Diagnostics for board 50:
2025-04-24 11:23:53 [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 11:23:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:58 ago, cause: software
2025-04-24 11:23:53 [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 11:23:53 [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 11:23:53 [debug] Moves scheduled 15634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=641, max=17045
Sync err accum 105, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:23:53 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 20649, writes 11 timeouts 1
2025-04-24 11:23:53 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37175
2025-04-24 11:23:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:53 [info] currentZPosition:0.127
2025-04-24 11:23:54 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:54 [debug] Diagnostics for board 50:
2025-04-24 11:23:54 [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 11:23:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:25:59 ago, cause: software
2025-04-24 11:23:54 [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 11:23:54 [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 11:23:54 [debug] Moves scheduled 15638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 107, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:54 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17328, writes 0 timeouts 0
2025-04-24 11:23:54 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37175
2025-04-24 11:23:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:54 [info] currentZPosition:0.126
2025-04-24 11:23:56 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:56 [debug] Diagnostics for board 50:
2025-04-24 11:23:56 [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 11:23:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:00 ago, cause: software
2025-04-24 11:23:56 [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 11:23:56 [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 11:23:56 [debug] Moves scheduled 15642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 108, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:23:56 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16665, writes 0 timeouts 0
2025-04-24 11:23:56 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36158/37176
2025-04-24 11:23:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8903, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:56 [info] currentZPosition:0.126
2025-04-24 11:23:57 [debug] Stopped at height 0.126 mm
2025-04-24 11:23:57 [debug] Diagnostics for board 50:
2025-04-24 11:23:57 [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 11:23:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:02 ago, cause: software
2025-04-24 11:23:57 [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 11:23:57 [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 11:23:57 [debug] Moves scheduled 15646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6198, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:23:57 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17411, writes 0 timeouts 0
2025-04-24 11:23:57 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36095/37172
2025-04-24 11:23:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:57 [info] currentZPosition:0.126
2025-04-24 11:23:58 [debug] Stopped at height 0.127 mm
2025-04-24 11:23:58 [debug] Diagnostics for board 50:
2025-04-24 11:23:58 [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 11:23:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:03 ago, cause: software
2025-04-24 11:23:58 [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 11:23:58 [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 11:23:58 [debug] Moves scheduled 15650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 100, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:23:58 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16382, writes 0 timeouts 0
2025-04-24 11:23:58 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36160/37176
2025-04-24 11:23:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:23:58 [info] currentZPosition:0.127
2025-04-24 11:24:00 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:00 [debug] Diagnostics for board 50:
2025-04-24 11:24:00 [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 11:24:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:04 ago, cause: software
2025-04-24 11:24:00 [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 11:24:00 [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 11:24:00 [debug] Moves scheduled 15654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17857
Sync err accum 91, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:00 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17419, writes 0 timeouts 0
2025-04-24 11:24:00 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36115/37178
2025-04-24 11:24:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:00 [info] currentZPosition:0.126
2025-04-24 11:24:01 [debug] Stopped at height 0.125 mm
2025-04-24 11:24:01 [debug] Diagnostics for board 50:
2025-04-24 11:24:01 [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 11:24:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:06 ago, cause: software
2025-04-24 11:24:01 [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 11:24:01 [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 11:24:01 [debug] Moves scheduled 15658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6521, max=17045
Sync err accum 84, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:01 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16963, writes 0 timeouts 0
2025-04-24 11:24:01 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36285/37171
2025-04-24 11:24:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:01 [info] currentZPosition:0.125
2025-04-24 11:24:02 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:02 [debug] Diagnostics for board 50:
2025-04-24 11:24:02 [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 11:24:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:07 ago, cause: software
2025-04-24 11:24:02 [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 11:24:02 [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 11:24:02 [debug] Moves scheduled 15662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 70, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:02 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16890, writes 0 timeouts 0
2025-04-24 11:24:02 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37176
2025-04-24 11:24:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:02 [info] currentZPosition:0.126
2025-04-24 11:24:04 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:04 [debug] Diagnostics for board 50:
2025-04-24 11:24:04 [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 11:24:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:09 ago, cause: software
2025-04-24 11:24:04 [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 11:24:04 [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 11:24:04 [debug] Moves scheduled 15666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17045
Sync err accum 61, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:04 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16433, writes 0 timeouts 0
2025-04-24 11:24:04 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36405/37177
2025-04-24 11:24:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:04 [info] currentZPosition:0.127
2025-04-24 11:24:05 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:05 [debug] Diagnostics for board 50:
2025-04-24 11:24:05 [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 11:24:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:10 ago, cause: software
2025-04-24 11:24:05 [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 11:24:05 [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 11:24:05 [debug] Moves scheduled 15670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 75, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:05 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17584, writes 0 timeouts 0
2025-04-24 11:24:05 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37173
2025-04-24 11:24:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:05 [info] currentZPosition:0.126
2025-04-24 11:24:06 [debug] Stopped at height 0.125 mm
2025-04-24 11:24:06 [debug] Diagnostics for board 50:
2025-04-24 11:24:06 [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 11:24:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:11 ago, cause: software
2025-04-24 11:24:06 [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 11:24:06 [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 11:24:06 [debug] Moves scheduled 15674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 88, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:24:06 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16902, writes 0 timeouts 0
2025-04-24 11:24:06 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37174
2025-04-24 11:24:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:07 [info] currentZPosition:0.125
2025-04-24 11:24:08 [debug] Stopped at height 0.125 mm
2025-04-24 11:24:08 [debug] Diagnostics for board 50:
2025-04-24 11:24:08 [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 11:24:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:13 ago, cause: software
2025-04-24 11:24:08 [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 11:24:08 [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 11:24:08 [debug] Moves scheduled 15678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 101, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:08 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17342, writes 0 timeouts 0
2025-04-24 11:24:08 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37175
2025-04-24 11:24:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:08 [info] currentZPosition:0.125
2025-04-24 11:24:09 [debug] Stopped at height 0.128 mm
2025-04-24 11:24:09 [debug] Diagnostics for board 50:
2025-04-24 11:24:09 [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 11:24:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:14 ago, cause: software
2025-04-24 11:24:09 [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 11:24:09 [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 11:24:09 [debug] Moves scheduled 15682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 107, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:09 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 15723, writes 0 timeouts 0
2025-04-24 11:24:09 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37172
2025-04-24 11:24:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:09 [info] currentZPosition:0.128
2025-04-24 11:24:09 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:11 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:11 [debug] Diagnostics for board 50:
2025-04-24 11:24:11 [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 11:24:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:16 ago, cause: software
2025-04-24 11:24:11 [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 11:24:11 [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 11:24:11 [debug] Moves scheduled 15688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 111, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294931282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32
2025-04-24 11:24:11 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 21450, writes 0 timeouts 0
2025-04-24 11:24:11 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37175
2025-04-24 11:24:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:11 [info] currentZPosition:0.127
2025-04-24 11:24:12 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:12 [debug] Diagnostics for board 50:
2025-04-24 11:24:12 [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 11:24:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:17 ago, cause: software
2025-04-24 11:24:12 [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 11:24:12 [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 11:24:12 [debug] Moves scheduled 15692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 111, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:12 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16884, writes 0 timeouts 0
2025-04-24 11:24:12 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36403/37174
2025-04-24 11:24:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:12 [info] currentZPosition:0.126
2025-04-24 11:24:14 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:14 [debug] Diagnostics for board 50:
2025-04-24 11:24:14 [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 11:24:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:18 ago, cause: software
2025-04-24 11:24:14 [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 11:24:14 [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 11:24:14 [debug] Moves scheduled 15696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:14 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16983, writes 0 timeouts 0
2025-04-24 11:24:14 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37177
2025-04-24 11:24:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:14 [info] currentZPosition:0.127
2025-04-24 11:24:15 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:15 [debug] Diagnostics for board 50:
2025-04-24 11:24:15 [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 11:24:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:20 ago, cause: software
2025-04-24 11:24:15 [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 11:24:15 [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 11:24:15 [debug] Moves scheduled 15700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 103, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:15 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16606, writes 0 timeouts 0
2025-04-24 11:24:15 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37175
2025-04-24 11:24:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:15 [info] currentZPosition:0.127
2025-04-24 11:24:16 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:16 [debug] Diagnostics for board 50:
2025-04-24 11:24:16 [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 11:24:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:21 ago, cause: software
2025-04-24 11:24:16 [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 11:24:16 [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 11:24:16 [debug] Moves scheduled 15704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:16 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17212, writes 0 timeouts 0
2025-04-24 11:24:16 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37175
2025-04-24 11:24:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:16 [info] currentZPosition:0.127
2025-04-24 11:24:18 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:18 [debug] Diagnostics for board 50:
2025-04-24 11:24:18 [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 11:24:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:22 ago, cause: software
2025-04-24 11:24:18 [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 11:24:18 [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 11:24:18 [debug] Moves scheduled 15708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:18 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16595, writes 0 timeouts 0
2025-04-24 11:24:18 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36406/37177
2025-04-24 11:24:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:18 [info] currentZPosition:0.127
2025-04-24 11:24:19 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:19 [debug] Diagnostics for board 50:
2025-04-24 11:24:19 [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 11:24:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:24 ago, cause: software
2025-04-24 11:24:19 [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 11:24:19 [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 11:24:19 [debug] Moves scheduled 15712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6578, max=17045
Sync err accum 81, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:24:19 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17459, writes 0 timeouts 0
2025-04-24 11:24:19 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37173
2025-04-24 11:24:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:19 [info] currentZPosition:0.126
2025-04-24 11:24:20 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:20 [debug] Diagnostics for board 50:
2025-04-24 11:24:20 [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 11:24:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:25 ago, cause: software
2025-04-24 11:24:20 [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 11:24:20 [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 11:24:20 [debug] Moves scheduled 15716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:24:20 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16693, writes 0 timeouts 0
2025-04-24 11:24:20 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37177
2025-04-24 11:24:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:20 [info] currentZPosition:0.126
2025-04-24 11:24:22 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:22 [debug] Diagnostics for board 50:
2025-04-24 11:24:22 [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 11:24:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:26 ago, cause: software
2025-04-24 11:24:22 [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 11:24:22 [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 11:24:22 [debug] Moves scheduled 15720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:22 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16929, writes 0 timeouts 0
2025-04-24 11:24:22 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37176
2025-04-24 11:24:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:22 [info] currentZPosition:0.127
2025-04-24 11:24:23 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:23 [debug] Diagnostics for board 50:
2025-04-24 11:24:23 [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 11:24:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:28 ago, cause: software
2025-04-24 11:24:23 [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 11:24:23 [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 11:24:23 [debug] Moves scheduled 15724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6355, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:23 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16743, writes 0 timeouts 0
2025-04-24 11:24:23 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37171
2025-04-24 11:24:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:23 [info] currentZPosition:0.126
2025-04-24 11:24:24 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:24 [debug] Diagnostics for board 50:
2025-04-24 11:24:24 [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 11:24:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:29 ago, cause: software
2025-04-24 11:24:24 [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 11:24:24 [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 11:24:24 [debug] Moves scheduled 15728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 89, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:24:24 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17220, writes 0 timeouts 0
2025-04-24 11:24:24 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37173
2025-04-24 11:24:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:24 [info] currentZPosition:0.126
2025-04-24 11:24:26 [debug] Stopped at height 0.125 mm
2025-04-24 11:24:26 [debug] Diagnostics for board 50:
2025-04-24 11:24:26 [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 11:24:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:31 ago, cause: software
2025-04-24 11:24:26 [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 11:24:26 [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 11:24:26 [debug] Moves scheduled 15732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 97, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:24:26 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16977, writes 0 timeouts 0
2025-04-24 11:24:26 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37173
2025-04-24 11:24:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:26 [info] currentZPosition:0.125
2025-04-24 11:24:27 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:27 [debug] Diagnostics for board 50:
2025-04-24 11:24:27 [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 11:24:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:32 ago, cause: software
2025-04-24 11:24:27 [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 11:24:27 [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 11:24:27 [debug] Moves scheduled 15736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 105, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:27 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16755, writes 0 timeouts 0
2025-04-24 11:24:27 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37176
2025-04-24 11:24:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:27 [info] currentZPosition:0.127
2025-04-24 11:24:27 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:29 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:29 [debug] Diagnostics for board 50:
2025-04-24 11:24:29 [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 11:24:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:34 ago, cause: software
2025-04-24 11:24:29 [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 11:24:29 [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 11:24:29 [debug] Moves scheduled 15742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 111, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:29 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20455, writes 0 timeouts 0
2025-04-24 11:24:29 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36387/37176
2025-04-24 11:24:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8903, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:29 [info] currentZPosition:0.127
2025-04-24 11:24:30 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:30 [debug] Diagnostics for board 50:
2025-04-24 11:24:30 [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 11:24:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:35 ago, cause: software
2025-04-24 11:24:30 [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 11:24:30 [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 11:24:30 [debug] Moves scheduled 15746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:30 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16965, writes 0 timeouts 0
2025-04-24 11:24:30 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37174
2025-04-24 11:24:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8866, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:30 [info] currentZPosition:0.127
2025-04-24 11:24:31 [debug] Stopped at height 0.125 mm
2025-04-24 11:24:31 [debug] Diagnostics for board 50:
2025-04-24 11:24:31 [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 11:24:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:36 ago, cause: software
2025-04-24 11:24:31 [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 11:24:31 [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 11:24:31 [debug] Moves scheduled 15750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 110, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932400 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:24:31 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17279, writes 0 timeouts 0
2025-04-24 11:24:31 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36396/37177
2025-04-24 11:24:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:32 [info] currentZPosition:0.125
2025-04-24 11:24:32 [debug] Stopped at height 0.124 mm
2025-04-24 11:24:33 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:33 [debug] Diagnostics for board 50:
2025-04-24 11:24:33 [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 11:24:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:26:38 ago, cause: software
2025-04-24 11:24:33 [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 11:24:33 [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 11:24:33 [debug] Moves scheduled 15756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 110, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:33 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20733, writes 0 timeouts 0
2025-04-24 11:24:33 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36106/37175
2025-04-24 11:24:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:33 [info] currentZPosition:0.127
2025-04-24 11:24:33 [debug] Stopped at height 0.130 mm
2025-04-24 11:24:34 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:35 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:35 [debug] Diagnostics for board 50:
2025-04-24 11:24:35 [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 11:24:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:40 ago, cause: software
2025-04-24 11:24:35 [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 11:24:35 [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 11:24:35 [debug] Moves scheduled 15764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 99, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:35 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 24647, writes 0 timeouts 0
2025-04-24 11:24:35 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 36394/37177
2025-04-24 11:24:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:35 [info] currentZPosition:0.127
2025-04-24 11:24:36 [debug] Stopped at height 0.125 mm
2025-04-24 11:24:36 [debug] Diagnostics for board 50:
2025-04-24 11:24:36 [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 11:24:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:41 ago, cause: software
2025-04-24 11:24:36 [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 11:24:36 [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 11:24:36 [debug] Moves scheduled 15768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6696, max=17857
Sync err accum 92, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:36 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17704, writes 0 timeouts 0
2025-04-24 11:24:36 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37176
2025-04-24 11:24:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:37 [info] currentZPosition:0.125
2025-04-24 11:24:37 [debug] Stopped at height 0.124 mm
2025-04-24 11:24:38 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:38 [debug] Diagnostics for board 50:
2025-04-24 11:24:38 [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 11:24:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:43 ago, cause: software
2025-04-24 11:24:38 [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 11:24:38 [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 11:24:38 [debug] Moves scheduled 15774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:38 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 19999, writes 0 timeouts 0
2025-04-24 11:24:38 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36402/37178
2025-04-24 11:24:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:38 [info] currentZPosition:0.127
2025-04-24 11:24:38 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:40 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:40 [debug] Diagnostics for board 50:
2025-04-24 11:24:40 [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 11:24:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:26:45 ago, cause: software
2025-04-24 11:24:40 [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 11:24:40 [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 11:24:40 [debug] Moves scheduled 15780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:40 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 21217, writes 0 timeouts 0
2025-04-24 11:24:40 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37178
2025-04-24 11:24:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:40 [info] currentZPosition:0.127
2025-04-24 11:24:41 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:41 [debug] Diagnostics for board 50:
2025-04-24 11:24:41 [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 11:24:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:46 ago, cause: software
2025-04-24 11:24:41 [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 11:24:41 [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 11:24:41 [debug] Moves scheduled 15784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:41 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16613, writes 0 timeouts 0
2025-04-24 11:24:41 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37175
2025-04-24 11:24:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:41 [info] currentZPosition:0.127
2025-04-24 11:24:42 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:42 [debug] Diagnostics for board 50:
2025-04-24 11:24:42 [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 11:24:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:47 ago, cause: software
2025-04-24 11:24:42 [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 11:24:42 [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 11:24:42 [debug] Moves scheduled 15788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=492, max=17045
Sync err accum 73, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:24:42 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17065, writes 11 timeouts 1
2025-04-24 11:24:42 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37173
2025-04-24 11:24:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:43 [info] currentZPosition:0.127
2025-04-24 11:24:44 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:44 [debug] Diagnostics for board 50:
2025-04-24 11:24:44 [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 11:24:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:49 ago, cause: software
2025-04-24 11:24:44 [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 11:24:44 [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 11:24:44 [debug] Moves scheduled 15792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:24:44 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16739, writes 0 timeouts 0
2025-04-24 11:24:44 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37174
2025-04-24 11:24:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:44 [info] currentZPosition:0.127
2025-04-24 11:24:45 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:45 [debug] Diagnostics for board 50:
2025-04-24 11:24:45 [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 11:24:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:50 ago, cause: software
2025-04-24 11:24:45 [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 11:24:45 [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 11:24:45 [debug] Moves scheduled 15796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 78, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:45 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17124, writes 0 timeouts 0
2025-04-24 11:24:45 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37174
2025-04-24 11:24:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:45 [info] currentZPosition:0.127
2025-04-24 11:24:47 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:47 [debug] Diagnostics for board 50:
2025-04-24 11:24:47 [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 11:24:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:51 ago, cause: software
2025-04-24 11:24:47 [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 11:24:47 [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 11:24:47 [debug] Moves scheduled 15800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=18292
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294933930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:24:47 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16435, writes 0 timeouts 0
2025-04-24 11:24:47 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36392/37175
2025-04-24 11:24:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:47 [info] currentZPosition:0.127
2025-04-24 11:24:48 [debug] Stopped at height 0.128 mm
2025-04-24 11:24:48 [debug] Diagnostics for board 50:
2025-04-24 11:24:48 [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 11:24:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:53 ago, cause: software
2025-04-24 11:24:48 [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 11:24:48 [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 11:24:48 [debug] Moves scheduled 15804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:48 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17081, writes 0 timeouts 0
2025-04-24 11:24:48 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37175
2025-04-24 11:24:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:48 [info] currentZPosition:0.128
2025-04-24 11:24:49 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:49 [debug] Diagnostics for board 50:
2025-04-24 11:24:49 [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 11:24:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:54 ago, cause: software
2025-04-24 11:24:49 [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 11:24:49 [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 11:24:49 [debug] Moves scheduled 15808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=17857
Sync err accum 74, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:49 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16696, writes 0 timeouts 0
2025-04-24 11:24:49 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37177
2025-04-24 11:24:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:49 [info] currentZPosition:0.127
2025-04-24 11:24:51 [debug] Stopped at height 0.126 mm
2025-04-24 11:24:51 [debug] Diagnostics for board 50:
2025-04-24 11:24:51 [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 11:24:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:55 ago, cause: software
2025-04-24 11:24:51 [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 11:24:51 [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 11:24:51 [debug] Moves scheduled 15812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 69, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:51 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17539, writes 0 timeouts 0
2025-04-24 11:24:51 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37175
2025-04-24 11:24:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:51 [info] currentZPosition:0.126
2025-04-24 11:24:52 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:52 [debug] Diagnostics for board 50:
2025-04-24 11:24:52 [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 11:24:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:57 ago, cause: software
2025-04-24 11:24:52 [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 11:24:52 [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 11:24:52 [debug] Moves scheduled 15816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:52 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16424, writes 0 timeouts 0
2025-04-24 11:24:52 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36402/37175
2025-04-24 11:24:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:52 [info] currentZPosition:0.127
2025-04-24 11:24:53 [debug] Stopped at height 0.128 mm
2025-04-24 11:24:53 [debug] Diagnostics for board 50:
2025-04-24 11:24:53 [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 11:24:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:58 ago, cause: software
2025-04-24 11:24:53 [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 11:24:53 [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 11:24:53 [debug] Moves scheduled 15820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 71, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:53 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17074, writes 0 timeouts 0
2025-04-24 11:24:53 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37173
2025-04-24 11:24:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:53 [info] currentZPosition:0.128
2025-04-24 11:24:55 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:55 [debug] Diagnostics for board 50:
2025-04-24 11:24:55 [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 11:24:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:26:59 ago, cause: software
2025-04-24 11:24:55 [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 11:24:55 [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 11:24:55 [debug] Moves scheduled 15824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=5813, max=17045
Sync err accum 78, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:24:55 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16761, writes 0 timeouts 0
2025-04-24 11:24:55 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37175
2025-04-24 11:24:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:55 [info] currentZPosition:0.127
2025-04-24 11:24:56 [debug] Stopped at height 0.128 mm
2025-04-24 11:24:56 [debug] Diagnostics for board 50:
2025-04-24 11:24:56 [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 11:24:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:01 ago, cause: software
2025-04-24 11:24:56 [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 11:24:56 [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 11:24:56 [debug] Moves scheduled 15828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6355, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:24:56 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17127, writes 0 timeouts 0
2025-04-24 11:24:56 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37176
2025-04-24 11:24:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:56 [info] currentZPosition:0.128
2025-04-24 11:24:57 [debug] Stopped at height 0.127 mm
2025-04-24 11:24:57 [debug] Diagnostics for board 50:
2025-04-24 11:24:57 [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 11:24:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:02 ago, cause: software
2025-04-24 11:24:57 [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 11:24:57 [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 11:24:57 [debug] Moves scheduled 15832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:24:57 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16824, writes 0 timeouts 0
2025-04-24 11:24:57 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36148/37174
2025-04-24 11:24:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:57 [info] currentZPosition:0.127
2025-04-24 11:24:59 [debug] Stopped at height 0.128 mm
2025-04-24 11:24:59 [debug] Diagnostics for board 50:
2025-04-24 11:24:59 [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 11:24:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:04 ago, cause: software
2025-04-24 11:24:59 [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 11:24:59 [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 11:24:59 [debug] Moves scheduled 15836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:24:59 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16918, writes 0 timeouts 0
2025-04-24 11:24:59 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37178
2025-04-24 11:24:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:24:59 [info] currentZPosition:0.128
2025-04-24 11:25:00 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:00 [debug] Diagnostics for board 50:
2025-04-24 11:25:00 [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 11:25:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:05 ago, cause: software
2025-04-24 11:25:00 [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 11:25:00 [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 11:25:00 [debug] Moves scheduled 15840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=508, max=17857
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294933747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:25:00 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16785, writes 11 timeouts 1
2025-04-24 11:25:00 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37173
2025-04-24 11:25:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:00 [info] currentZPosition:0.127
2025-04-24 11:25:01 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:01 [debug] Diagnostics for board 50:
2025-04-24 11:25:01 [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 11:25:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:06 ago, cause: software
2025-04-24 11:25:01 [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 11:25:01 [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 11:25:01 [debug] Moves scheduled 15844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 76, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:01 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17212, writes 0 timeouts 0
2025-04-24 11:25:01 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36113/37176
2025-04-24 11:25:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:02 [info] currentZPosition:0.127
2025-04-24 11:25:03 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:03 [debug] Diagnostics for board 50:
2025-04-24 11:25:03 [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 11:25:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:08 ago, cause: software
2025-04-24 11:25:03 [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 11:25:03 [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 11:25:03 [debug] Moves scheduled 15848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6521, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:03 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16768, writes 0 timeouts 0
2025-04-24 11:25:03 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36159/37174
2025-04-24 11:25:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:03 [info] currentZPosition:0.126
2025-04-24 11:25:04 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:04 [debug] Diagnostics for board 50:
2025-04-24 11:25:04 [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 11:25:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:09 ago, cause: software
2025-04-24 11:25:04 [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 11:25:04 [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 11:25:04 [debug] Moves scheduled 15852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:04 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16584, writes 0 timeouts 0
2025-04-24 11:25:04 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37178
2025-04-24 11:25:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:04 [info] currentZPosition:0.128
2025-04-24 11:25:05 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:06 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:06 [debug] Diagnostics for board 50:
2025-04-24 11:25:06 [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 11:25:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:11 ago, cause: software
2025-04-24 11:25:06 [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 11:25:06 [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 11:25:06 [debug] Moves scheduled 15858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:06 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20965, writes 0 timeouts 0
2025-04-24 11:25:06 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36149/37177
2025-04-24 11:25:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:06 [info] currentZPosition:0.127
2025-04-24 11:25:07 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:07 [debug] Diagnostics for board 50:
2025-04-24 11:25:07 [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 11:25:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:12 ago, cause: software
2025-04-24 11:25:07 [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 11:25:07 [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 11:25:07 [debug] Moves scheduled 15862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:07 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17054, writes 0 timeouts 0
2025-04-24 11:25:07 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:25:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:07 [info] currentZPosition:0.127
2025-04-24 11:25:08 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:08 [debug] Diagnostics for board 50:
2025-04-24 11:25:08 [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 11:25:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:13 ago, cause: software
2025-04-24 11:25:08 [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 11:25:08 [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 11:25:08 [debug] Moves scheduled 15866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 63, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:08 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16813, writes 0 timeouts 0
2025-04-24 11:25:08 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36160/37174
2025-04-24 11:25:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:09 [info] currentZPosition:0.127
2025-04-24 11:25:10 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:10 [debug] Diagnostics for board 50:
2025-04-24 11:25:10 [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 11:25:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:15 ago, cause: software
2025-04-24 11:25:10 [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 11:25:10 [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 11:25:10 [debug] Moves scheduled 15870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:25:10 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16953, writes 0 timeouts 0
2025-04-24 11:25:10 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37177
2025-04-24 11:25:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:10 [info] currentZPosition:0.127
2025-04-24 11:25:11 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:11 [debug] Diagnostics for board 50:
2025-04-24 11:25:11 [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 11:25:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:16 ago, cause: software
2025-04-24 11:25:11 [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 11:25:11 [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 11:25:11 [debug] Moves scheduled 15874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:25:11 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16929, writes 0 timeouts 0
2025-04-24 11:25:11 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36163/37171
2025-04-24 11:25:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:11 [info] currentZPosition:0.126
2025-04-24 11:25:12 [debug] Stopped at height 0.125 mm
2025-04-24 11:25:13 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:13 [debug] Diagnostics for board 50:
2025-04-24 11:25:13 [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 11:25:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:18 ago, cause: software
2025-04-24 11:25:13 [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 11:25:13 [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 11:25:13 [debug] Moves scheduled 15880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6578, max=18292
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:13 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 21086, writes 0 timeouts 0
2025-04-24 11:25:13 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37176
2025-04-24 11:25:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:13 [info] currentZPosition:0.127
2025-04-24 11:25:13 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:15 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:15 [debug] Diagnostics for board 50:
2025-04-24 11:25:15 [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 11:25:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:19 ago, cause: software
2025-04-24 11:25:15 [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 11:25:15 [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 11:25:15 [debug] Moves scheduled 15886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:15 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20167, writes 0 timeouts 0
2025-04-24 11:25:15 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37176
2025-04-24 11:25:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:15 [info] currentZPosition:0.128
2025-04-24 11:25:15 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:16 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:16 [debug] Diagnostics for board 50:
2025-04-24 11:25:16 [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 11:25:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:21 ago, cause: software
2025-04-24 11:25:16 [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 11:25:16 [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 11:25:16 [debug] Moves scheduled 15892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:16 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 21266, writes 0 timeouts 0
2025-04-24 11:25:16 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37178
2025-04-24 11:25:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:16 [info] currentZPosition:0.127
2025-04-24 11:25:18 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:18 [debug] Diagnostics for board 50:
2025-04-24 11:25:18 [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 11:25:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:22 ago, cause: software
2025-04-24 11:25:18 [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 11:25:18 [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 11:25:18 [debug] Moves scheduled 15896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 74, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:18 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16567, writes 0 timeouts 0
2025-04-24 11:25:18 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36150/37176
2025-04-24 11:25:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:18 [info] currentZPosition:0.127
2025-04-24 11:25:19 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:19 [debug] Diagnostics for board 50:
2025-04-24 11:25:19 [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 11:25:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:24 ago, cause: software
2025-04-24 11:25:19 [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 11:25:19 [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 11:25:19 [debug] Moves scheduled 15900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 76, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:19 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17061, writes 0 timeouts 0
2025-04-24 11:25:19 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37174
2025-04-24 11:25:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:19 [info] currentZPosition:0.127
2025-04-24 11:25:20 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:20 [debug] Diagnostics for board 50:
2025-04-24 11:25:20 [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 11:25:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:25 ago, cause: software
2025-04-24 11:25:20 [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 11:25:20 [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 11:25:20 [debug] Moves scheduled 15904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
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 4294935081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:20 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16755, writes 0 timeouts 0
2025-04-24 11:25:20 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36168/37174
2025-04-24 11:25:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:20 [info] currentZPosition:0.127
2025-04-24 11:25:22 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:22 [debug] Diagnostics for board 50:
2025-04-24 11:25:22 [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 11:25:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:26 ago, cause: software
2025-04-24 11:25:22 [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 11:25:22 [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 11:25:22 [debug] Moves scheduled 15908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter 0/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:22 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16851, writes 0 timeouts 0
2025-04-24 11:25:22 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37171
2025-04-24 11:25:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:22 [info] currentZPosition:0.128
2025-04-24 11:25:23 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:23 [debug] Diagnostics for board 50:
2025-04-24 11:25:23 [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 11:25:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:28 ago, cause: software
2025-04-24 11:25:23 [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 11:25:23 [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 11:25:23 [debug] Moves scheduled 15912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 71, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:23 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16621, writes 0 timeouts 0
2025-04-24 11:25:23 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36169/37173
2025-04-24 11:25:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:23 [info] currentZPosition:0.128
2025-04-24 11:25:24 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:24 [debug] Diagnostics for board 50:
2025-04-24 11:25:24 [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 11:25:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:29 ago, cause: software
2025-04-24 11:25:24 [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 11:25:24 [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 11:25:24 [debug] Moves scheduled 15916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=17441
Sync err accum 64, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:24 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17211, writes 0 timeouts 0
2025-04-24 11:25:24 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36091/37171
2025-04-24 11:25:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:24 [info] currentZPosition:0.128
2025-04-24 11:25:26 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:26 [debug] Diagnostics for board 50:
2025-04-24 11:25:26 [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 11:25:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:30 ago, cause: software
2025-04-24 11:25:26 [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 11:25:26 [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 11:25:26 [debug] Moves scheduled 15920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:26 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16721, writes 0 timeouts 0
2025-04-24 11:25:26 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37177
2025-04-24 11:25:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:26 [info] currentZPosition:0.128
2025-04-24 11:25:27 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:27 [debug] Diagnostics for board 50:
2025-04-24 11:25:27 [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 11:25:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:32 ago, cause: software
2025-04-24 11:25:27 [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 11:25:27 [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 11:25:27 [debug] Moves scheduled 15924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:27 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17419, writes 0 timeouts 0
2025-04-24 11:25:27 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37176
2025-04-24 11:25:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:27 [info] currentZPosition:0.127
2025-04-24 11:25:28 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:28 [debug] Diagnostics for board 50:
2025-04-24 11:25:28 [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 11:25:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:33 ago, cause: software
2025-04-24 11:25:28 [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 11:25:28 [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 11:25:28 [debug] Moves scheduled 15928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:25:28 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16204, writes 0 timeouts 0
2025-04-24 11:25:28 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36157/37173
2025-04-24 11:25:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:28 [info] currentZPosition:0.128
2025-04-24 11:25:29 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:30 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:30 [debug] Diagnostics for board 50:
2025-04-24 11:25:30 [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 11:25:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:35 ago, cause: software
2025-04-24 11:25:30 [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 11:25:30 [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 11:25:30 [debug] Moves scheduled 15934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6818, max=18292
Sync err accum 85, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:30 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 21170, writes 0 timeouts 0
2025-04-24 11:25:30 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37173
2025-04-24 11:25:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:30 [info] currentZPosition:0.128
2025-04-24 11:25:30 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:32 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:32 [debug] Diagnostics for board 50:
2025-04-24 11:25:32 [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 11:25:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:27:36 ago, cause: software
2025-04-24 11:25:32 [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 11:25:32 [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 11:25:32 [debug] Moves scheduled 15940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932769 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:32 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20732, writes 0 timeouts 0
2025-04-24 11:25:32 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37177
2025-04-24 11:25:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:32 [info] currentZPosition:0.127
2025-04-24 11:25:33 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:33 [debug] Diagnostics for board 50:
2025-04-24 11:25:33 [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 11:25:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:38 ago, cause: software
2025-04-24 11:25:33 [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 11:25:33 [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 11:25:33 [debug] Moves scheduled 15944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:33 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16817, writes 0 timeouts 0
2025-04-24 11:25:33 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36104/37176
2025-04-24 11:25:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:33 [info] currentZPosition:0.128
2025-04-24 11:25:33 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:35 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:35 [debug] Diagnostics for board 50:
2025-04-24 11:25:35 [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 11:25:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:40 ago, cause: software
2025-04-24 11:25:35 [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 11:25:35 [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 11:25:35 [debug] Moves scheduled 15950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:35 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20870, writes 0 timeouts 0
2025-04-24 11:25:35 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36161/37178
2025-04-24 11:25:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:35 [info] currentZPosition:0.127
2025-04-24 11:25:35 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:36 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:36 [debug] Diagnostics for board 50:
2025-04-24 11:25:36 [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 11:25:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:41 ago, cause: software
2025-04-24 11:25:36 [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 11:25:36 [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 11:25:36 [debug] Moves scheduled 15956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 69, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:36 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20762, writes 0 timeouts 0
2025-04-24 11:25:36 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 11:25:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:36 [info] currentZPosition:0.128
2025-04-24 11:25:37 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:38 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:38 [debug] Diagnostics for board 50:
2025-04-24 11:25:38 [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 11:25:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:43 ago, cause: software
2025-04-24 11:25:38 [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 11:25:38 [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 11:25:38 [debug] Moves scheduled 15962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:38 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 20331, writes 0 timeouts 0
2025-04-24 11:25:38 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37176
2025-04-24 11:25:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:38 [info] currentZPosition:0.129
2025-04-24 11:25:39 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:39 [debug] Diagnostics for board 50:
2025-04-24 11:25:39 [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 11:25:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:44 ago, cause: software
2025-04-24 11:25:39 [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 11:25:39 [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 11:25:39 [debug] Moves scheduled 15966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
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 4294936575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:25:39 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17921, writes 0 timeouts 0
2025-04-24 11:25:39 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37173
2025-04-24 11:25:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:39 [info] currentZPosition:0.126
2025-04-24 11:25:40 [debug] Stopped at height 0.126 mm
2025-04-24 11:25:41 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:41 [debug] Diagnostics for board 50:
2025-04-24 11:25:41 [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 11:25:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:46 ago, cause: software
2025-04-24 11:25:41 [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 11:25:41 [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 11:25:41 [debug] Moves scheduled 15972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=117, frequency (Hz): min=6944, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:41 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 19728, writes 0 timeouts 0
2025-04-24 11:25:41 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36161/37176
2025-04-24 11:25:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:41 [info] currentZPosition:0.129
2025-04-24 11:25:41 [debug] Stopped at height 0.130 mm
2025-04-24 11:25:43 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:43 [debug] Diagnostics for board 50:
2025-04-24 11:25:43 [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 11:25:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:47 ago, cause: software
2025-04-24 11:25:43 [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 11:25:43 [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 11:25:43 [debug] Moves scheduled 15978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 69, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:43 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 21001, writes 0 timeouts 0
2025-04-24 11:25:43 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36111/37176
2025-04-24 11:25:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:43 [info] currentZPosition:0.128
2025-04-24 11:25:43 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:44 [debug] Stopped at height 0.127 mm
2025-04-24 11:25:44 [debug] Diagnostics for board 50:
2025-04-24 11:25:44 [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 11:25:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:49 ago, cause: software
2025-04-24 11:25:44 [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 11:25:44 [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 11:25:44 [debug] Moves scheduled 15984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6944, max=18292
Sync err accum 63, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:44 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20939, writes 0 timeouts 0
2025-04-24 11:25:44 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36192/37174
2025-04-24 11:25:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:44 [info] currentZPosition:0.127
2025-04-24 11:25:46 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:46 [debug] Diagnostics for board 50:
2025-04-24 11:25:46 [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 11:25:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:51 ago, cause: software
2025-04-24 11:25:46 [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 11:25:46 [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 11:25:46 [debug] Moves scheduled 15988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:25:46 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16706, writes 0 timeouts 0
2025-04-24 11:25:46 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36119/37176
2025-04-24 11:25:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:46 [info] currentZPosition:0.129
2025-04-24 11:25:46 [debug] Stopped at height 0.130 mm
2025-04-24 11:25:47 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:47 [debug] Diagnostics for board 50:
2025-04-24 11:25:47 [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 11:25:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:52 ago, cause: software
2025-04-24 11:25:47 [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 11:25:47 [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 11:25:47 [debug] Moves scheduled 15994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 87, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294928238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:47 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20515, writes 0 timeouts 0
2025-04-24 11:25:47 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36160/37174
2025-04-24 11:25:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:47 [info] currentZPosition:0.128
2025-04-24 11:25:48 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:49 [debug] Stopped at height 0.130 mm
2025-04-24 11:25:49 [debug] Diagnostics for board 50:
2025-04-24 11:25:49 [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 11:25:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:54 ago, cause: software
2025-04-24 11:25:49 [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 11:25:49 [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 11:25:49 [debug] Moves scheduled 16000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=520, max=17045
Sync err accum 96, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:25:49 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20407, writes 11 timeouts 1
2025-04-24 11:25:49 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36091/37176
2025-04-24 11:25:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:49 [info] currentZPosition:0.130
2025-04-24 11:25:49 [debug] Stopped at height 0.132 mm
2025-04-24 11:25:50 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:50 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:51 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:51 [debug] Diagnostics for board 50:
2025-04-24 11:25:51 [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 11:25:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:56 ago, cause: software
2025-04-24 11:25:51 [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 11:25:51 [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 11:25:51 [debug] Moves scheduled 16010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 105, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:51 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 29071, writes 0 timeouts 0
2025-04-24 11:25:51 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 291, adv 36282/37174
2025-04-24 11:25:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:51 [info] currentZPosition:0.129
2025-04-24 11:25:53 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:53 [debug] Diagnostics for board 50:
2025-04-24 11:25:53 [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 11:25:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:57 ago, cause: software
2025-04-24 11:25:53 [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 11:25:53 [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 11:25:53 [debug] Moves scheduled 16014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6000, max=17045
Sync err accum 105, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:25:53 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17147, writes 0 timeouts 0
2025-04-24 11:25:53 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37177
2025-04-24 11:25:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:53 [info] currentZPosition:0.129
2025-04-24 11:25:54 [debug] Stopped at height 0.129 mm
2025-04-24 11:25:54 [debug] Diagnostics for board 50:
2025-04-24 11:25:54 [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 11:25:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:27:59 ago, cause: software
2025-04-24 11:25:54 [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 11:25:54 [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 11:25:54 [debug] Moves scheduled 16018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 103, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:54 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16611, writes 0 timeouts 0
2025-04-24 11:25:54 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37177
2025-04-24 11:25:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:54 [info] currentZPosition:0.129
2025-04-24 11:25:55 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:55 [debug] Diagnostics for board 50:
2025-04-24 11:25:55 [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 11:25:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:00 ago, cause: software
2025-04-24 11:25:55 [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 11:25:55 [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 11:25:55 [debug] Moves scheduled 16022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 99, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:55 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17322, writes 0 timeouts 0
2025-04-24 11:25:55 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37176
2025-04-24 11:25:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:55 [info] currentZPosition:0.128
2025-04-24 11:25:57 [debug] Stopped at height 0.128 mm
2025-04-24 11:25:57 [debug] Diagnostics for board 50:
2025-04-24 11:25:57 [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 11:25:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:28:02 ago, cause: software
2025-04-24 11:25:57 [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 11:25:57 [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 11:25:57 [debug] Moves scheduled 16026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 93, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294928982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:25:57 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16687, writes 0 timeouts 0
2025-04-24 11:25:57 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37175
2025-04-24 11:25:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:57 [info] currentZPosition:0.128
2025-04-24 11:25:58 [debug] Stopped at height 0.130 mm
2025-04-24 11:25:58 [debug] Diagnostics for board 50:
2025-04-24 11:25:58 [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 11:25:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:03 ago, cause: software
2025-04-24 11:25:58 [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 11:25:58 [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 11:25:58 [debug] Moves scheduled 16030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6696, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:25:58 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16501, writes 0 timeouts 0
2025-04-24 11:25:58 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37175
2025-04-24 11:25:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:25:58 [info] currentZPosition:0.130
2025-04-24 11:25:58 [debug] Stopped at height 0.132 mm
2025-04-24 11:25:59 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:00 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:00 [debug] Diagnostics for board 50:
2025-04-24 11:26:00 [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 11:26:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:05 ago, cause: software
2025-04-24 11:26:00 [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 11:26:00 [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 11:26:00 [debug] Moves scheduled 16038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17441
Sync err accum 70, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:00 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 25340, writes 0 timeouts 0
2025-04-24 11:26:00 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36401/37177
2025-04-24 11:26:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:00 [info] currentZPosition:0.128
2025-04-24 11:26:01 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:01 [debug] Diagnostics for board 50:
2025-04-24 11:26:01 [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 11:26:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:06 ago, cause: software
2025-04-24 11:26:01 [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 11:26:01 [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 11:26:01 [debug] Moves scheduled 16042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6250, max=17045
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 4294929399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:01 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16847, writes 0 timeouts 0
2025-04-24 11:26:01 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37173
2025-04-24 11:26:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:01 [info] currentZPosition:0.130
2025-04-24 11:26:02 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:03 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:03 [debug] Diagnostics for board 50:
2025-04-24 11:26:03 [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 11:26:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:08 ago, cause: software
2025-04-24 11:26:03 [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 11:26:03 [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 11:26:03 [debug] Moves scheduled 16048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=5769, max=17045
Sync err accum 79, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:03 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 20359, writes 0 timeouts 0
2025-04-24 11:26:03 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36393/37176
2025-04-24 11:26:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:03 [info] currentZPosition:0.130
2025-04-24 11:26:03 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:05 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:05 [debug] Diagnostics for board 50:
2025-04-24 11:26:05 [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 11:26:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:28:10 ago, cause: software
2025-04-24 11:26:05 [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 11:26:05 [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 11:26:05 [debug] Moves scheduled 16054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17857
Sync err accum 93, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:05 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21548, writes 0 timeouts 0
2025-04-24 11:26:05 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37174
2025-04-24 11:26:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:05 [info] currentZPosition:0.128
2025-04-24 11:26:06 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:06 [debug] Diagnostics for board 50:
2025-04-24 11:26:06 [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 11:26:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:11 ago, cause: software
2025-04-24 11:26:06 [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 11:26:06 [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 11:26:06 [debug] Moves scheduled 16058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:06 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16114, writes 0 timeouts 0
2025-04-24 11:26:06 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36394/37173
2025-04-24 11:26:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:06 [info] currentZPosition:0.130
2025-04-24 11:26:06 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:08 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:08 [debug] Diagnostics for board 50:
2025-04-24 11:26:08 [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 11:26:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:13 ago, cause: software
2025-04-24 11:26:08 [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 11:26:08 [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 11:26:08 [debug] Moves scheduled 16064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:08 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 21031, writes 0 timeouts 0
2025-04-24 11:26:08 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37175
2025-04-24 11:26:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:08 [info] currentZPosition:0.130
2025-04-24 11:26:08 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:09 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:09 [debug] Diagnostics for board 50:
2025-04-24 11:26:09 [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 11:26:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:14 ago, cause: software
2025-04-24 11:26:09 [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 11:26:09 [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 11:26:09 [debug] Moves scheduled 16070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 109, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:26:09 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 21115, writes 0 timeouts 0
2025-04-24 11:26:09 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36401/37176
2025-04-24 11:26:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:10 [info] currentZPosition:0.128
2025-04-24 11:26:10 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:11 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:11 [debug] Diagnostics for board 50:
2025-04-24 11:26:11 [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 11:26:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:16 ago, cause: software
2025-04-24 11:26:11 [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 11:26:11 [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 11:26:11 [debug] Moves scheduled 16076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 109, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:11 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20964, writes 0 timeouts 0
2025-04-24 11:26:11 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37176
2025-04-24 11:26:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:11 [info] currentZPosition:0.129
2025-04-24 11:26:12 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:12 [debug] Diagnostics for board 50:
2025-04-24 11:26:12 [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 11:26:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:17 ago, cause: software
2025-04-24 11:26:12 [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 11:26:12 [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 11:26:12 [debug] Moves scheduled 16080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=18292
Sync err accum 108, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:12 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16576, writes 0 timeouts 0
2025-04-24 11:26:12 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37176
2025-04-24 11:26:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:13 [info] currentZPosition:0.129
2025-04-24 11:26:14 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:14 [debug] Diagnostics for board 50:
2025-04-24 11:26:14 [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 11:26:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:19 ago, cause: software
2025-04-24 11:26:14 [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 11:26:14 [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 11:26:14 [debug] Moves scheduled 16084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=6250, max=18292
Sync err accum 100, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:26:14 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16849, writes 0 timeouts 0
2025-04-24 11:26:14 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37178
2025-04-24 11:26:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:14 [info] currentZPosition:0.130
2025-04-24 11:26:15 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:15 [debug] Diagnostics for board 50:
2025-04-24 11:26:15 [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 11:26:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:20 ago, cause: software
2025-04-24 11:26:15 [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 11:26:15 [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 11:26:15 [debug] Moves scheduled 16088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 92, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:15 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17070, writes 0 timeouts 0
2025-04-24 11:26:15 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36405/37177
2025-04-24 11:26:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:15 [info] currentZPosition:0.129
2025-04-24 11:26:16 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:17 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:17 [debug] Diagnostics for board 50:
2025-04-24 11:26:17 [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 11:26:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:22 ago, cause: software
2025-04-24 11:26:17 [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 11:26:17 [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 11:26:17 [debug] Moves scheduled 16094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:17 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20688, writes 0 timeouts 0
2025-04-24 11:26:17 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37177
2025-04-24 11:26:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:17 [info] currentZPosition:0.130
2025-04-24 11:26:17 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:18 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:18 [debug] Diagnostics for board 50:
2025-04-24 11:26:18 [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 11:26:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:23 ago, cause: software
2025-04-24 11:26:18 [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 11:26:18 [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 11:26:18 [debug] Moves scheduled 16100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6637, max=18292
Sync err accum 64, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:18 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20757, writes 0 timeouts 0
2025-04-24 11:26:18 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 297, adv 36404/37177
2025-04-24 11:26:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:19 [info] currentZPosition:0.129
2025-04-24 11:26:20 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:20 [debug] Diagnostics for board 50:
2025-04-24 11:26:20 [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 11:26:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:25 ago, cause: software
2025-04-24 11:26:20 [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 11:26:20 [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 11:26:20 [debug] Moves scheduled 16104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 61, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:20 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17323, writes 0 timeouts 0
2025-04-24 11:26:20 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37177
2025-04-24 11:26:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:20 [info] currentZPosition:0.129
2025-04-24 11:26:21 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:21 [debug] Diagnostics for board 50:
2025-04-24 11:26:21 [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 11:26:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:26 ago, cause: software
2025-04-24 11:26:21 [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 11:26:21 [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 11:26:21 [debug] Moves scheduled 16108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 74, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:21 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16095, writes 0 timeouts 0
2025-04-24 11:26:21 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37174
2025-04-24 11:26:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:21 [info] currentZPosition:0.130
2025-04-24 11:26:22 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:23 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:23 [debug] Diagnostics for board 50:
2025-04-24 11:26:23 [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 11:26:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:28 ago, cause: software
2025-04-24 11:26:23 [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 11:26:23 [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 11:26:23 [debug] Moves scheduled 16114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6147, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:23 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 21092, writes 0 timeouts 0
2025-04-24 11:26:23 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36097/37174
2025-04-24 11:26:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:23 [info] currentZPosition:0.130
2025-04-24 11:26:23 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:24 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:24 [debug] Diagnostics for board 50:
2025-04-24 11:26:24 [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 11:26:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:29 ago, cause: software
2025-04-24 11:26:24 [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 11:26:24 [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 11:26:24 [debug] Moves scheduled 16120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 98, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:24 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20520, writes 0 timeouts 0
2025-04-24 11:26:24 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36401/37176
2025-04-24 11:26:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:25 [info] currentZPosition:0.130
2025-04-24 11:26:25 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:26 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:26 [debug] Diagnostics for board 50:
2025-04-24 11:26:26 [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 11:26:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:31 ago, cause: software
2025-04-24 11:26:26 [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 11:26:26 [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 11:26:26 [debug] Moves scheduled 16126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 104, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:26 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 21571, writes 0 timeouts 0
2025-04-24 11:26:26 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37176
2025-04-24 11:26:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:26 [info] currentZPosition:0.129
2025-04-24 11:26:27 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:27 [debug] Diagnostics for board 50:
2025-04-24 11:26:27 [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 11:26:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:32 ago, cause: software
2025-04-24 11:26:27 [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 11:26:27 [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 11:26:27 [debug] Moves scheduled 16130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=494, max=17045
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 4294936536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:27 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 15748, writes 11 timeouts 1
2025-04-24 11:26:27 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37175
2025-04-24 11:26:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:28 [info] currentZPosition:0.131
2025-04-24 11:26:28 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:29 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:29 [debug] Diagnostics for board 50:
2025-04-24 11:26:29 [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 11:26:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:34 ago, cause: software
2025-04-24 11:26:29 [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 11:26:29 [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 11:26:29 [debug] Moves scheduled 16136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17857
Sync err accum 106, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:26:29 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 21294, writes 0 timeouts 0
2025-04-24 11:26:29 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37173
2025-04-24 11:26:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:29 [info] currentZPosition:0.130
2025-04-24 11:26:31 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:31 [debug] Diagnostics for board 50:
2025-04-24 11:26:31 [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 11:26:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:35 ago, cause: software
2025-04-24 11:26:31 [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 11:26:31 [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 11:26:31 [debug] Moves scheduled 16140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 101, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:26:31 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16935, writes 0 timeouts 0
2025-04-24 11:26:31 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36395/37175
2025-04-24 11:26:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:31 [info] currentZPosition:0.130
2025-04-24 11:26:32 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:32 [debug] Diagnostics for board 50:
2025-04-24 11:26:32 [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 11:26:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:37 ago, cause: software
2025-04-24 11:26:32 [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 11:26:32 [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 11:26:32 [debug] Moves scheduled 16144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6355, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:32 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16902, writes 0 timeouts 0
2025-04-24 11:26:32 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37174
2025-04-24 11:26:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:32 [info] currentZPosition:0.130
2025-04-24 11:26:33 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:33 [debug] Diagnostics for board 50:
2025-04-24 11:26:33 [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 11:26:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:38 ago, cause: software
2025-04-24 11:26:33 [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 11:26:33 [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 11:26:33 [debug] Moves scheduled 16148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 78, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:33 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16433, writes 0 timeouts 0
2025-04-24 11:26:33 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36406/37178
2025-04-24 11:26:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:33 [info] currentZPosition:0.131
2025-04-24 11:26:35 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:35 [debug] Diagnostics for board 50:
2025-04-24 11:26:35 [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 11:26:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:39 ago, cause: software
2025-04-24 11:26:35 [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 11:26:35 [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 11:26:35 [debug] Moves scheduled 16152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 68, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:26:35 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17262, writes 0 timeouts 0
2025-04-24 11:26:35 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37179
2025-04-24 11:26:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:35 [info] currentZPosition:0.131
2025-04-24 11:26:36 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:36 [debug] Diagnostics for board 50:
2025-04-24 11:26:36 [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 11:26:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:41 ago, cause: software
2025-04-24 11:26:36 [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 11:26:36 [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 11:26:36 [debug] Moves scheduled 16156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 61, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:36 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16579, writes 0 timeouts 0
2025-04-24 11:26:36 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37178
2025-04-24 11:26:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:36 [info] currentZPosition:0.131
2025-04-24 11:26:37 [debug] Stopped at height 0.128 mm
2025-04-24 11:26:37 [debug] Diagnostics for board 50:
2025-04-24 11:26:37 [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 11:26:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:42 ago, cause: software
2025-04-24 11:26:37 [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 11:26:37 [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 11:26:37 [debug] Moves scheduled 16160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 72, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933659 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:37 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 18131, writes 0 timeouts 0
2025-04-24 11:26:37 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:26:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:37 [info] currentZPosition:0.128
2025-04-24 11:26:38 [debug] Stopped at height 0.125 mm
2025-04-24 11:26:38 [debug] Stopped at height 0.127 mm
2025-04-24 11:26:38 [debug] Stopped at height 0.127 mm
2025-04-24 11:26:40 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:40 [debug] Diagnostics for board 50:
2025-04-24 11:26:40 [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 11:26:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:44 ago, cause: software
2025-04-24 11:26:40 [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 11:26:40 [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 11:26:40 [debug] Moves scheduled 16170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:40 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 28171, writes 0 timeouts 0
2025-04-24 11:26:40 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 292, adv 36398/37175
2025-04-24 11:26:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:40 [info] currentZPosition:0.130
2025-04-24 11:26:40 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:41 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:41 [debug] Diagnostics for board 50:
2025-04-24 11:26:41 [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 11:26:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:46 ago, cause: software
2025-04-24 11:26:41 [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 11:26:41 [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 11:26:41 [debug] Moves scheduled 16176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=663, max=18292
Sync err accum 85, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:41 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 20916, writes 11 timeouts 1
2025-04-24 11:26:41 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 11:26:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:41 [info] currentZPosition:0.131
2025-04-24 11:26:42 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:43 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:43 [debug] Diagnostics for board 50:
2025-04-24 11:26:43 [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 11:26:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:48 ago, cause: software
2025-04-24 11:26:43 [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 11:26:43 [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 11:26:43 [debug] Moves scheduled 16182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:43 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 21187, writes 0 timeouts 0
2025-04-24 11:26:43 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37176
2025-04-24 11:26:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:43 [info] currentZPosition:0.129
2025-04-24 11:26:43 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:45 [debug] Stopped at height 0.132 mm
2025-04-24 11:26:45 [debug] Diagnostics for board 50:
2025-04-24 11:26:45 [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 11:26:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:49 ago, cause: software
2025-04-24 11:26:45 [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 11:26:45 [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 11:26:45 [debug] Moves scheduled 16188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:45 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20416, writes 0 timeouts 0
2025-04-24 11:26:45 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37176
2025-04-24 11:26:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:45 [info] currentZPosition:0.132
2025-04-24 11:26:45 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:46 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:46 [debug] Diagnostics for board 50:
2025-04-24 11:26:46 [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 11:26:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:51 ago, cause: software
2025-04-24 11:26:46 [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 11:26:46 [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 11:26:46 [debug] Moves scheduled 16194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 70, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:26:46 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20736, writes 0 timeouts 0
2025-04-24 11:26:46 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36396/37178
2025-04-24 11:26:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:46 [info] currentZPosition:0.131
2025-04-24 11:26:47 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:48 [debug] Stopped at height 0.132 mm
2025-04-24 11:26:48 [debug] Diagnostics for board 50:
2025-04-24 11:26:48 [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 11:26:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:53 ago, cause: software
2025-04-24 11:26:48 [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 11:26:48 [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 11:26:48 [debug] Moves scheduled 16200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
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 4294931997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:48 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20716, writes 0 timeouts 0
2025-04-24 11:26:48 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36094/37177
2025-04-24 11:26:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:48 [info] currentZPosition:0.132
2025-04-24 11:26:48 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:50 [debug] Stopped at height 0.133 mm
2025-04-24 11:26:50 [debug] Diagnostics for board 50:
2025-04-24 11:26:50 [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 11:26:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:54 ago, cause: software
2025-04-24 11:26:50 [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 11:26:50 [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 11:26:50 [debug] Moves scheduled 16206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:50 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20153, writes 0 timeouts 0
2025-04-24 11:26:50 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36269/37175
2025-04-24 11:26:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 807
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:50 [info] currentZPosition:0.133
2025-04-24 11:26:50 [debug] Stopped at height 0.132 mm
2025-04-24 11:26:51 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:51 [debug] Diagnostics for board 50:
2025-04-24 11:26:51 [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 11:26:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:56 ago, cause: software
2025-04-24 11:26:51 [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 11:26:51 [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 11:26:51 [debug] Moves scheduled 16212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:51 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 21607, writes 0 timeouts 0
2025-04-24 11:26:51 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37175
2025-04-24 11:26:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:51 [info] currentZPosition:0.131
2025-04-24 11:26:52 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:53 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:53 [debug] Diagnostics for board 50:
2025-04-24 11:26:53 [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 11:26:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:58 ago, cause: software
2025-04-24 11:26:53 [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 11:26:53 [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 11:26:53 [debug] Moves scheduled 16218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 79, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:53 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20715, writes 0 timeouts 0
2025-04-24 11:26:53 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37176
2025-04-24 11:26:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:53 [info] currentZPosition:0.131
2025-04-24 11:26:54 [debug] Stopped at height 0.131 mm
2025-04-24 11:26:54 [debug] Diagnostics for board 50:
2025-04-24 11:26:54 [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 11:26:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:28:59 ago, cause: software
2025-04-24 11:26:54 [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 11:26:54 [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 11:26:54 [debug] Moves scheduled 16222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:26:54 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17248, writes 0 timeouts 0
2025-04-24 11:26:54 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37175
2025-04-24 11:26:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:54 [info] currentZPosition:0.131
2025-04-24 11:26:56 [debug] Stopped at height 0.132 mm
2025-04-24 11:26:56 [debug] Diagnostics for board 50:
2025-04-24 11:26:56 [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 11:26:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:00 ago, cause: software
2025-04-24 11:26:56 [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 11:26:56 [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 11:26:56 [debug] Moves scheduled 16226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:56 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16310, writes 0 timeouts 0
2025-04-24 11:26:56 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37171
2025-04-24 11:26:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:56 [info] currentZPosition:0.132
2025-04-24 11:26:57 [debug] Stopped at height 0.130 mm
2025-04-24 11:26:57 [debug] Diagnostics for board 50:
2025-04-24 11:26:57 [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 11:26:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:02 ago, cause: software
2025-04-24 11:26:57 [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 11:26:57 [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 11:26:57 [debug] Moves scheduled 16230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:57 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17652, writes 0 timeouts 0
2025-04-24 11:26:57 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36097/37177
2025-04-24 11:26:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:57 [info] currentZPosition:0.130
2025-04-24 11:26:57 [debug] Stopped at height 0.129 mm
2025-04-24 11:26:59 [debug] Stopped at height 0.132 mm
2025-04-24 11:26:59 [debug] Diagnostics for board 50:
2025-04-24 11:26:59 [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 11:26:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:03 ago, cause: software
2025-04-24 11:26:59 [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 11:26:59 [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 11:26:59 [debug] Moves scheduled 16236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17441
Sync err accum 63, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:26:59 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20191, writes 0 timeouts 0
2025-04-24 11:26:59 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36166/37177
2025-04-24 11:26:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:26:59 [info] currentZPosition:0.132
2025-04-24 11:26:59 [debug] Stopped at height 0.130 mm
2025-04-24 11:27:00 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:00 [debug] Diagnostics for board 50:
2025-04-24 11:27:00 [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 11:27:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:05 ago, cause: software
2025-04-24 11:27:00 [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 11:27:00 [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 11:27:00 [debug] Moves scheduled 16242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 69, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:00 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20951, writes 0 timeouts 0
2025-04-24 11:27:00 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 11:27:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:00 [info] currentZPosition:0.132
2025-04-24 11:27:01 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:02 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:02 [debug] Diagnostics for board 50:
2025-04-24 11:27:02 [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 11:27:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:07 ago, cause: software
2025-04-24 11:27:02 [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 11:27:02 [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 11:27:02 [debug] Moves scheduled 16248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 78, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:02 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20717, writes 0 timeouts 0
2025-04-24 11:27:02 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36155/37173
2025-04-24 11:27:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:02 [info] currentZPosition:0.131
2025-04-24 11:27:03 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:03 [debug] Diagnostics for board 50:
2025-04-24 11:27:03 [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 11:27:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:08 ago, cause: software
2025-04-24 11:27:03 [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 11:27:03 [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 11:27:03 [debug] Moves scheduled 16252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
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 4294930878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:27:03 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17060, writes 0 timeouts 0
2025-04-24 11:27:03 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37172
2025-04-24 11:27:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:03 [info] currentZPosition:0.132
2025-04-24 11:27:05 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:05 [debug] Diagnostics for board 50:
2025-04-24 11:27:05 [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 11:27:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:09 ago, cause: software
2025-04-24 11:27:05 [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 11:27:05 [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 11:27:05 [debug] Moves scheduled 16256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 83, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:05 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16487, writes 0 timeouts 0
2025-04-24 11:27:05 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37177
2025-04-24 11:27:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:05 [info] currentZPosition:0.132
2025-04-24 11:27:06 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:06 [debug] Diagnostics for board 50:
2025-04-24 11:27:06 [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 11:27:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:11 ago, cause: software
2025-04-24 11:27:06 [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 11:27:06 [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 11:27:06 [debug] Moves scheduled 16260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 82, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:06 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17042, writes 0 timeouts 0
2025-04-24 11:27:06 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36097/37174
2025-04-24 11:27:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:06 [info] currentZPosition:0.133
2025-04-24 11:27:07 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:07 [debug] Diagnostics for board 50:
2025-04-24 11:27:07 [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 11:27:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:12 ago, cause: software
2025-04-24 11:27:07 [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 11:27:07 [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 11:27:07 [debug] Moves scheduled 16264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:07 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16829, writes 0 timeouts 0
2025-04-24 11:27:07 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37177
2025-04-24 11:27:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:07 [info] currentZPosition:0.132
2025-04-24 11:27:09 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:09 [debug] Diagnostics for board 50:
2025-04-24 11:27:09 [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 11:27:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:14 ago, cause: software
2025-04-24 11:27:09 [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 11:27:09 [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 11:27:09 [debug] Moves scheduled 16268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=18292
Sync err accum 72, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:09 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17406, writes 0 timeouts 0
2025-04-24 11:27:09 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36096/37174
2025-04-24 11:27:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:09 [info] currentZPosition:0.131
2025-04-24 11:27:10 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:10 [debug] Diagnostics for board 50:
2025-04-24 11:27:10 [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 11:27:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:15 ago, cause: software
2025-04-24 11:27:10 [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 11:27:10 [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 11:27:10 [debug] Moves scheduled 16272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:27:10 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16463, writes 0 timeouts 0
2025-04-24 11:27:10 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36150/37176
2025-04-24 11:27:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:10 [info] currentZPosition:0.132
2025-04-24 11:27:11 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:11 [debug] Diagnostics for board 50:
2025-04-24 11:27:11 [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 11:27:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:16 ago, cause: software
2025-04-24 11:27:11 [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 11:27:11 [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 11:27:11 [debug] Moves scheduled 16276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:11 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16934, writes 0 timeouts 0
2025-04-24 11:27:11 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37174
2025-04-24 11:27:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:12 [info] currentZPosition:0.132
2025-04-24 11:27:13 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:13 [debug] Diagnostics for board 50:
2025-04-24 11:27:13 [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 11:27:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:18 ago, cause: software
2025-04-24 11:27:13 [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 11:27:13 [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 11:27:13 [debug] Moves scheduled 16280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6578, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:13 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16906, writes 0 timeouts 0
2025-04-24 11:27:13 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36150/37175
2025-04-24 11:27:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:13 [info] currentZPosition:0.131
2025-04-24 11:27:14 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:14 [debug] Diagnostics for board 50:
2025-04-24 11:27:14 [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 11:27:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:19 ago, cause: software
2025-04-24 11:27:14 [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 11:27:14 [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 11:27:14 [debug] Moves scheduled 16284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6637, max=18292
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294929381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:14 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16992, writes 0 timeouts 0
2025-04-24 11:27:14 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36111/37174
2025-04-24 11:27:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:14 [info] currentZPosition:0.132
2025-04-24 11:27:15 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:15 [debug] Diagnostics for board 50:
2025-04-24 11:27:15 [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 11:27:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:20 ago, cause: software
2025-04-24 11:27:15 [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 11:27:15 [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 11:27:15 [debug] Moves scheduled 16288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:15 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16672, writes 0 timeouts 0
2025-04-24 11:27:15 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37173
2025-04-24 11:27:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:16 [info] currentZPosition:0.132
2025-04-24 11:27:17 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:17 [debug] Diagnostics for board 50:
2025-04-24 11:27:17 [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 11:27:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:22 ago, cause: software
2025-04-24 11:27:17 [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 11:27:17 [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 11:27:17 [debug] Moves scheduled 16292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:17 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17059, writes 0 timeouts 0
2025-04-24 11:27:17 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36112/37174
2025-04-24 11:27:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:17 [info] currentZPosition:0.132
2025-04-24 11:27:18 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:18 [debug] Diagnostics for board 50:
2025-04-24 11:27:18 [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 11:27:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:23 ago, cause: software
2025-04-24 11:27:18 [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 11:27:18 [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 11:27:18 [debug] Moves scheduled 16296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:18 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16466, writes 0 timeouts 0
2025-04-24 11:27:18 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37174
2025-04-24 11:27:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:18 [info] currentZPosition:0.133
2025-04-24 11:27:20 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:20 [debug] Diagnostics for board 50:
2025-04-24 11:27:20 [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 11:27:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:24 ago, cause: software
2025-04-24 11:27:20 [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 11:27:20 [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 11:27:20 [debug] Moves scheduled 16300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=508, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931659 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:20 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17558, writes 11 timeouts 1
2025-04-24 11:27:20 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36100/37175
2025-04-24 11:27:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:20 [info] currentZPosition:0.131
2025-04-24 11:27:21 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:21 [debug] Diagnostics for board 50:
2025-04-24 11:27:21 [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 11:27:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:26 ago, cause: software
2025-04-24 11:27:21 [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 11:27:21 [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 11:27:21 [debug] Moves scheduled 16304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 74, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:27:21 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16770, writes 0 timeouts 0
2025-04-24 11:27:21 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37175
2025-04-24 11:27:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:21 [info] currentZPosition:0.131
2025-04-24 11:27:22 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:22 [debug] Diagnostics for board 50:
2025-04-24 11:27:22 [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 11:27:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:27 ago, cause: software
2025-04-24 11:27:22 [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 11:27:22 [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 11:27:22 [debug] Moves scheduled 16308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:22 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17213, writes 0 timeouts 0
2025-04-24 11:27:22 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37172
2025-04-24 11:27:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:22 [info] currentZPosition:0.131
2025-04-24 11:27:24 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:24 [debug] Diagnostics for board 50:
2025-04-24 11:27:24 [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 11:27:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:28 ago, cause: software
2025-04-24 11:27:24 [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 11:27:24 [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 11:27:24 [debug] Moves scheduled 16312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:24 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16488, writes 0 timeouts 0
2025-04-24 11:27:24 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36146/37172
2025-04-24 11:27:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:24 [info] currentZPosition:0.131
2025-04-24 11:27:25 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:25 [debug] Diagnostics for board 50:
2025-04-24 11:27:25 [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 11:27:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:30 ago, cause: software
2025-04-24 11:27:25 [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 11:27:25 [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 11:27:25 [debug] Moves scheduled 16316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:25 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17115, writes 0 timeouts 0
2025-04-24 11:27:25 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37173
2025-04-24 11:27:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:25 [info] currentZPosition:0.132
2025-04-24 11:27:26 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:26 [debug] Diagnostics for board 50:
2025-04-24 11:27:26 [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 11:27:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:31 ago, cause: software
2025-04-24 11:27:26 [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 11:27:26 [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 11:27:26 [debug] Moves scheduled 16320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17857
Sync err accum 75, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:26 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16567, writes 0 timeouts 0
2025-04-24 11:27:26 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37175
2025-04-24 11:27:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:26 [info] currentZPosition:0.132
2025-04-24 11:27:28 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:28 [debug] Diagnostics for board 50:
2025-04-24 11:27:28 [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 11:27:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:33 ago, cause: software
2025-04-24 11:27:28 [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 11:27:28 [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 11:27:28 [debug] Moves scheduled 16324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 68, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:28 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17252, writes 0 timeouts 0
2025-04-24 11:27:28 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37175
2025-04-24 11:27:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:28 [info] currentZPosition:0.131
2025-04-24 11:27:29 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:29 [debug] Diagnostics for board 50:
2025-04-24 11:27:29 [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 11:27:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:34 ago, cause: software
2025-04-24 11:27:29 [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 11:27:29 [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 11:27:29 [debug] Moves scheduled 16328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6578, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:29 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16144, writes 0 timeouts 0
2025-04-24 11:27:29 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36162/37176
2025-04-24 11:27:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:29 [info] currentZPosition:0.133
2025-04-24 11:27:29 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:31 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:31 [debug] Diagnostics for board 50:
2025-04-24 11:27:31 [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 11:27:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:36 ago, cause: software
2025-04-24 11:27:31 [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 11:27:31 [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 11:27:31 [debug] Moves scheduled 16334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:31 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 21587, writes 0 timeouts 0
2025-04-24 11:27:31 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36100/37174
2025-04-24 11:27:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:31 [info] currentZPosition:0.131
2025-04-24 11:27:32 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:32 [debug] Diagnostics for board 50:
2025-04-24 11:27:32 [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 11:27:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:37 ago, cause: software
2025-04-24 11:27:32 [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 11:27:32 [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 11:27:32 [debug] Moves scheduled 16338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6302, max=17441
Sync err accum 78, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:32 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16387, writes 0 timeouts 0
2025-04-24 11:27:32 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37175
2025-04-24 11:27:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:32 [info] currentZPosition:0.132
2025-04-24 11:27:33 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:33 [debug] Diagnostics for board 50:
2025-04-24 11:27:33 [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 11:27:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:38 ago, cause: software
2025-04-24 11:27:33 [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 11:27:33 [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 11:27:33 [debug] Moves scheduled 16342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=556, max=17045
Sync err accum 82, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:27:33 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17128, writes 11 timeouts 1
2025-04-24 11:27:33 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36094/37174
2025-04-24 11:27:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:33 [info] currentZPosition:0.132
2025-04-24 11:27:35 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:35 [debug] Diagnostics for board 50:
2025-04-24 11:27:35 [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 11:27:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:40 ago, cause: software
2025-04-24 11:27:35 [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 11:27:35 [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 11:27:35 [debug] Moves scheduled 16346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter 0/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:27:35 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16550, writes 0 timeouts 0
2025-04-24 11:27:35 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37177
2025-04-24 11:27:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:35 [info] currentZPosition:0.132
2025-04-24 11:27:36 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:36 [debug] Diagnostics for board 50:
2025-04-24 11:27:36 [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 11:27:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:29:41 ago, cause: software
2025-04-24 11:27:36 [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 11:27:36 [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 11:27:36 [debug] Moves scheduled 16350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 81, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:36 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17390, writes 0 timeouts 0
2025-04-24 11:27:36 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 11:27:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:36 [info] currentZPosition:0.131
2025-04-24 11:27:37 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:37 [debug] Diagnostics for board 50:
2025-04-24 11:27:37 [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 11:27:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:42 ago, cause: software
2025-04-24 11:27:37 [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 11:27:37 [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 11:27:37 [debug] Moves scheduled 16354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=5952, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:37 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16396, writes 0 timeouts 0
2025-04-24 11:27:37 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36159/37173
2025-04-24 11:27:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:38 [info] currentZPosition:0.132
2025-04-24 11:27:39 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:39 [debug] Diagnostics for board 50:
2025-04-24 11:27:39 [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 11:27:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:44 ago, cause: software
2025-04-24 11:27:39 [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 11:27:39 [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 11:27:39 [debug] Moves scheduled 16358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=18292
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 4294931450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:39 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17591, writes 0 timeouts 0
2025-04-24 11:27:39 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37177
2025-04-24 11:27:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:39 [info] currentZPosition:0.131
2025-04-24 11:27:39 [debug] Stopped at height 0.131 mm
2025-04-24 11:27:40 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:40 [debug] Diagnostics for board 50:
2025-04-24 11:27:40 [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 11:27:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:45 ago, cause: software
2025-04-24 11:27:40 [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 11:27:40 [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 11:27:40 [debug] Moves scheduled 16364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
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 4294933859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:40 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 19973, writes 0 timeouts 0
2025-04-24 11:27:40 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36166/37178
2025-04-24 11:27:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:41 [info] currentZPosition:0.133
2025-04-24 11:27:41 [debug] Stopped at height 0.135 mm
2025-04-24 11:27:41 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:42 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:43 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:43 [debug] Diagnostics for board 50:
2025-04-24 11:27:43 [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 11:27:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:48 ago, cause: software
2025-04-24 11:27:43 [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 11:27:43 [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 11:27:43 [debug] Moves scheduled 16374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 87, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:27:43 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 29346, writes 0 timeouts 0
2025-04-24 11:27:43 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 288, adv 36108/37172
2025-04-24 11:27:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:43 [info] currentZPosition:0.133
2025-04-24 11:27:44 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:44 [debug] Diagnostics for board 50:
2025-04-24 11:27:44 [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 11:27:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:49 ago, cause: software
2025-04-24 11:27:44 [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 11:27:44 [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 11:27:44 [debug] Moves scheduled 16378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 97, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:27:44 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16583, writes 0 timeouts 0
2025-04-24 11:27:44 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36283/37172
2025-04-24 11:27:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:44 [info] currentZPosition:0.133
2025-04-24 11:27:46 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:46 [debug] Diagnostics for board 50:
2025-04-24 11:27:46 [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 11:27:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:50 ago, cause: software
2025-04-24 11:27:46 [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 11:27:46 [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 11:27:46 [debug] Moves scheduled 16382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=717, max=17045
Sync err accum 108, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:46 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17333, writes 11 timeouts 1
2025-04-24 11:27:46 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37171
2025-04-24 11:27:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:46 [info] currentZPosition:0.132
2025-04-24 11:27:47 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:47 [debug] Diagnostics for board 50:
2025-04-24 11:27:47 [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 11:27:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:52 ago, cause: software
2025-04-24 11:27:47 [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 11:27:47 [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 11:27:47 [debug] Moves scheduled 16386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 114, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:47 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16532, writes 0 timeouts 0
2025-04-24 11:27:47 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37172
2025-04-24 11:27:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:47 [info] currentZPosition:0.133
2025-04-24 11:27:48 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:48 [debug] Diagnostics for board 50:
2025-04-24 11:27:48 [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 11:27:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:53 ago, cause: software
2025-04-24 11:27:48 [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 11:27:48 [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 11:27:48 [debug] Moves scheduled 16390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 119, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:27:48 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17258, writes 0 timeouts 0
2025-04-24 11:27:48 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37174
2025-04-24 11:27:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:48 [info] currentZPosition:0.132
2025-04-24 11:27:50 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:50 [debug] Diagnostics for board 50:
2025-04-24 11:27:50 [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 11:27:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:54 ago, cause: software
2025-04-24 11:27:50 [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 11:27:50 [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 11:27:50 [debug] Moves scheduled 16394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 118, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:50 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16453, writes 0 timeouts 0
2025-04-24 11:27:50 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37175
2025-04-24 11:27:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8903, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:50 [info] currentZPosition:0.133
2025-04-24 11:27:51 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:51 [debug] Diagnostics for board 50:
2025-04-24 11:27:51 [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 11:27:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:56 ago, cause: software
2025-04-24 11:27:51 [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 11:27:51 [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 11:27:51 [debug] Moves scheduled 16398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7142, max=17045
Sync err accum 118, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:51 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17287, writes 0 timeouts 0
2025-04-24 11:27:51 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37175
2025-04-24 11:27:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:51 [info] currentZPosition:0.133
2025-04-24 11:27:52 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:52 [debug] Diagnostics for board 50:
2025-04-24 11:27:52 [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 11:27:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:57 ago, cause: software
2025-04-24 11:27:52 [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 11:27:52 [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 11:27:52 [debug] Moves scheduled 16402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 117, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:52 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16752, writes 0 timeouts 0
2025-04-24 11:27:52 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36399/37173
2025-04-24 11:27:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:52 [info] currentZPosition:0.132
2025-04-24 11:27:54 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:54 [debug] Diagnostics for board 50:
2025-04-24 11:27:54 [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 11:27:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:29:58 ago, cause: software
2025-04-24 11:27:54 [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 11:27:54 [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 11:27:54 [debug] Moves scheduled 16406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6465, max=18292
Sync err accum 110, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:54 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16890, writes 0 timeouts 0
2025-04-24 11:27:54 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37175
2025-04-24 11:27:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:54 [info] currentZPosition:0.133
2025-04-24 11:27:55 [debug] Stopped at height 0.133 mm
2025-04-24 11:27:55 [debug] Diagnostics for board 50:
2025-04-24 11:27:55 [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 11:27:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:00 ago, cause: software
2025-04-24 11:27:55 [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 11:27:55 [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 11:27:55 [debug] Moves scheduled 16410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 104, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294927817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:27:55 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16750, writes 0 timeouts 0
2025-04-24 11:27:55 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37178
2025-04-24 11:27:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:55 [info] currentZPosition:0.133
2025-04-24 11:27:56 [debug] Stopped at height 0.134 mm
2025-04-24 11:27:56 [debug] Diagnostics for board 50:
2025-04-24 11:27:56 [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 11:27:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:01 ago, cause: software
2025-04-24 11:27:56 [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 11:27:56 [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 11:27:56 [debug] Moves scheduled 16414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 95, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:56 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16936, writes 0 timeouts 0
2025-04-24 11:27:56 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37178
2025-04-24 11:27:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:56 [info] currentZPosition:0.134
2025-04-24 11:27:58 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:58 [debug] Diagnostics for board 50:
2025-04-24 11:27:58 [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 11:27:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:02 ago, cause: software
2025-04-24 11:27:58 [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 11:27:58 [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 11:27:58 [debug] Moves scheduled 16418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 80, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:58 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16990, writes 0 timeouts 0
2025-04-24 11:27:58 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37178
2025-04-24 11:27:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:58 [info] currentZPosition:0.132
2025-04-24 11:27:58 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:59 [debug] Stopped at height 0.132 mm
2025-04-24 11:27:59 [debug] Diagnostics for board 50:
2025-04-24 11:27:59 [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 11:27:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:04 ago, cause: software
2025-04-24 11:27:59 [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 11:27:59 [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 11:27:59 [debug] Moves scheduled 16424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6880, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:27:59 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 21137, writes 0 timeouts 0
2025-04-24 11:27:59 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37175
2025-04-24 11:27:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:27:59 [info] currentZPosition:0.132
2025-04-24 11:28:01 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:01 [debug] Diagnostics for board 50:
2025-04-24 11:28:01 [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 11:28:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:30:06 ago, cause: software
2025-04-24 11:28:01 [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 11:28:01 [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 11:28:01 [debug] Moves scheduled 16428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 68, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:01 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16734, writes 0 timeouts 0
2025-04-24 11:28:01 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37176
2025-04-24 11:28:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:01 [info] currentZPosition:0.132
2025-04-24 11:28:02 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:02 [debug] Diagnostics for board 50:
2025-04-24 11:28:02 [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 11:28:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:07 ago, cause: software
2025-04-24 11:28:02 [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 11:28:02 [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 11:28:02 [debug] Moves scheduled 16432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=18292
Sync err accum 82, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:28:02 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16942, writes 0 timeouts 0
2025-04-24 11:28:02 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37172
2025-04-24 11:28:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:02 [info] currentZPosition:0.133
2025-04-24 11:28:03 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:03 [debug] Diagnostics for board 50:
2025-04-24 11:28:03 [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 11:28:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:30:08 ago, cause: software
2025-04-24 11:28:03 [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 11:28:03 [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 11:28:03 [debug] Moves scheduled 16436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:28:03 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16422, writes 0 timeouts 0
2025-04-24 11:28:03 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37172
2025-04-24 11:28:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:03 [info] currentZPosition:0.133
2025-04-24 11:28:05 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:05 [debug] Diagnostics for board 50:
2025-04-24 11:28:05 [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 11:28:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:10 ago, cause: software
2025-04-24 11:28:05 [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 11:28:05 [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 11:28:05 [debug] Moves scheduled 16440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=517, max=17045
Sync err accum 101, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:28:05 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17322, writes 11 timeouts 1
2025-04-24 11:28:05 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37173
2025-04-24 11:28:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:05 [info] currentZPosition:0.133
2025-04-24 11:28:06 [debug] Stopped at height 0.131 mm
2025-04-24 11:28:06 [debug] Diagnostics for board 50:
2025-04-24 11:28:06 [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 11:28:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:11 ago, cause: software
2025-04-24 11:28:06 [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 11:28:06 [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 11:28:06 [debug] Moves scheduled 16444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17857
Sync err accum 107, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:06 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17214, writes 0 timeouts 0
2025-04-24 11:28:06 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37175
2025-04-24 11:28:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:06 [info] currentZPosition:0.131
2025-04-24 11:28:06 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:08 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:08 [debug] Diagnostics for board 50:
2025-04-24 11:28:08 [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 11:28:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:13 ago, cause: software
2025-04-24 11:28:08 [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 11:28:08 [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 11:28:08 [debug] Moves scheduled 16450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 108, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:28:08 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 20233, writes 0 timeouts 0
2025-04-24 11:28:08 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37176
2025-04-24 11:28:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:08 [info] currentZPosition:0.133
2025-04-24 11:28:09 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:09 [debug] Diagnostics for board 50:
2025-04-24 11:28:09 [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 11:28:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:14 ago, cause: software
2025-04-24 11:28:09 [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 11:28:09 [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 11:28:09 [debug] Moves scheduled 16454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=18292
Sync err accum 108, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:09 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16875, writes 0 timeouts 0
2025-04-24 11:28:09 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37176
2025-04-24 11:28:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:09 [info] currentZPosition:0.133
2025-04-24 11:28:10 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:10 [debug] Diagnostics for board 50:
2025-04-24 11:28:10 [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 11:28:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:15 ago, cause: software
2025-04-24 11:28:10 [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 11:28:10 [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 11:28:10 [debug] Moves scheduled 16458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 108, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:10 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17406, writes 0 timeouts 0
2025-04-24 11:28:10 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37174
2025-04-24 11:28:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:11 [info] currentZPosition:0.132
2025-04-24 11:28:12 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:12 [debug] Diagnostics for board 50:
2025-04-24 11:28:12 [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 11:28:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:17 ago, cause: software
2025-04-24 11:28:12 [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 11:28:12 [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 11:28:12 [debug] Moves scheduled 16462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 102, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:28:12 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16432, writes 0 timeouts 0
2025-04-24 11:28:12 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37177
2025-04-24 11:28:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:12 [info] currentZPosition:0.133
2025-04-24 11:28:13 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:13 [debug] Diagnostics for board 50:
2025-04-24 11:28:13 [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 11:28:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:18 ago, cause: software
2025-04-24 11:28:13 [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 11:28:13 [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 11:28:13 [debug] Moves scheduled 16466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 97, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:13 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17266, writes 0 timeouts 0
2025-04-24 11:28:13 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37178
2025-04-24 11:28:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:13 [info] currentZPosition:0.132
2025-04-24 11:28:14 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:14 [debug] Diagnostics for board 50:
2025-04-24 11:28:14 [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 11:28:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:19 ago, cause: software
2025-04-24 11:28:14 [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 11:28:14 [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 11:28:14 [debug] Moves scheduled 16470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=585, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:28:14 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16295, writes 11 timeouts 1
2025-04-24 11:28:14 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36405/37178
2025-04-24 11:28:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:15 [info] currentZPosition:0.133
2025-04-24 11:28:16 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:16 [debug] Diagnostics for board 50:
2025-04-24 11:28:16 [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 11:28:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:21 ago, cause: software
2025-04-24 11:28:16 [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 11:28:16 [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 11:28:16 [debug] Moves scheduled 16474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 79, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:16 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17337, writes 0 timeouts 0
2025-04-24 11:28:16 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37178
2025-04-24 11:28:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:16 [info] currentZPosition:0.133
2025-04-24 11:28:17 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:17 [debug] Diagnostics for board 50:
2025-04-24 11:28:17 [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 11:28:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:22 ago, cause: software
2025-04-24 11:28:17 [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 11:28:17 [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 11:28:17 [debug] Moves scheduled 16478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:17 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16629, writes 0 timeouts 0
2025-04-24 11:28:17 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36407/37178
2025-04-24 11:28:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:17 [info] currentZPosition:0.132
2025-04-24 11:28:19 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:19 [debug] Diagnostics for board 50:
2025-04-24 11:28:19 [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 11:28:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:23 ago, cause: software
2025-04-24 11:28:19 [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 11:28:19 [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 11:28:19 [debug] Moves scheduled 16482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 62, peak jitter -3/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:19 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17103, writes 0 timeouts 0
2025-04-24 11:28:19 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36094/37179
2025-04-24 11:28:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:19 [info] currentZPosition:0.133
2025-04-24 11:28:20 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:20 [debug] Diagnostics for board 50:
2025-04-24 11:28:20 [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 11:28:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:25 ago, cause: software
2025-04-24 11:28:20 [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 11:28:20 [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 11:28:20 [debug] Moves scheduled 16486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 80, peak jitter 2/4, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:20 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16673, writes 0 timeouts 0
2025-04-24 11:28:20 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37171
2025-04-24 11:28:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:20 [info] currentZPosition:0.133
2025-04-24 11:28:21 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:21 [debug] Diagnostics for board 50:
2025-04-24 11:28:21 [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 11:28:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:26 ago, cause: software
2025-04-24 11:28:21 [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 11:28:21 [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 11:28:21 [debug] Moves scheduled 16490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 95, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:21 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17368, writes 0 timeouts 0
2025-04-24 11:28:21 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37174
2025-04-24 11:28:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:21 [info] currentZPosition:0.132
2025-04-24 11:28:23 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:23 [debug] Diagnostics for board 50:
2025-04-24 11:28:23 [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 11:28:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:27 ago, cause: software
2025-04-24 11:28:23 [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 11:28:23 [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 11:28:23 [debug] Moves scheduled 16494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:23 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16316, writes 0 timeouts 0
2025-04-24 11:28:23 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36376/37174
2025-04-24 11:28:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:23 [info] currentZPosition:0.133
2025-04-24 11:28:24 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:24 [debug] Diagnostics for board 50:
2025-04-24 11:28:24 [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 11:28:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:29 ago, cause: software
2025-04-24 11:28:24 [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 11:28:24 [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 11:28:24 [debug] Moves scheduled 16498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6000, max=18292
Sync err accum 109, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:24 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17433, writes 0 timeouts 0
2025-04-24 11:28:24 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 11:28:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:24 [info] currentZPosition:0.132
2025-04-24 11:28:25 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:25 [debug] Diagnostics for board 50:
2025-04-24 11:28:25 [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 11:28:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:30 ago, cause: software
2025-04-24 11:28:25 [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 11:28:25 [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 11:28:25 [debug] Moves scheduled 16502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6944, max=17857
Sync err accum 113, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:25 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16560, writes 0 timeouts 0
2025-04-24 11:28:25 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36375/37175
2025-04-24 11:28:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:25 [info] currentZPosition:0.132
2025-04-24 11:28:27 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:27 [debug] Diagnostics for board 50:
2025-04-24 11:28:27 [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 11:28:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:32 ago, cause: software
2025-04-24 11:28:27 [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 11:28:27 [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 11:28:27 [debug] Moves scheduled 16506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6578, max=17045
Sync err accum 115, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:28:27 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17282, writes 0 timeouts 0
2025-04-24 11:28:27 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37172
2025-04-24 11:28:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:27 [info] currentZPosition:0.132
2025-04-24 11:28:28 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:28 [debug] Diagnostics for board 50:
2025-04-24 11:28:28 [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 11:28:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:33 ago, cause: software
2025-04-24 11:28:28 [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 11:28:28 [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 11:28:28 [debug] Moves scheduled 16510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 116, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:28 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16450, writes 0 timeouts 0
2025-04-24 11:28:28 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37173
2025-04-24 11:28:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:28 [info] currentZPosition:0.133
2025-04-24 11:28:29 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:29 [debug] Diagnostics for board 50:
2025-04-24 11:28:29 [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 11:28:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:34 ago, cause: software
2025-04-24 11:28:29 [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 11:28:29 [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 11:28:29 [debug] Moves scheduled 16514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=18292
Sync err accum 110, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:29 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17140, writes 0 timeouts 0
2025-04-24 11:28:29 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:28:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8920, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:29 [info] currentZPosition:0.133
2025-04-24 11:28:31 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:31 [debug] Diagnostics for board 50:
2025-04-24 11:28:31 [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 11:28:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:36 ago, cause: software
2025-04-24 11:28:31 [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 11:28:31 [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 11:28:31 [debug] Moves scheduled 16518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 107, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:31 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16689, writes 0 timeouts 0
2025-04-24 11:28:31 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37176
2025-04-24 11:28:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:31 [info] currentZPosition:0.133
2025-04-24 11:28:32 [debug] Stopped at height 0.131 mm
2025-04-24 11:28:32 [debug] Diagnostics for board 50:
2025-04-24 11:28:32 [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 11:28:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:37 ago, cause: software
2025-04-24 11:28:32 [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 11:28:32 [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 11:28:32 [debug] Moves scheduled 16522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=18292
Sync err accum 99, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:32 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17550, writes 0 timeouts 0
2025-04-24 11:28:32 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37174
2025-04-24 11:28:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:32 [info] currentZPosition:0.131
2025-04-24 11:28:33 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:33 [debug] Diagnostics for board 50:
2025-04-24 11:28:33 [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 11:28:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:38 ago, cause: software
2025-04-24 11:28:33 [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 11:28:33 [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 11:28:33 [debug] Moves scheduled 16526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6198, max=17045
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:33 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16494, writes 0 timeouts 0
2025-04-24 11:28:33 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36397/37179
2025-04-24 11:28:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:34 [info] currentZPosition:0.132
2025-04-24 11:28:35 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:35 [debug] Diagnostics for board 50:
2025-04-24 11:28:35 [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 11:28:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:40 ago, cause: software
2025-04-24 11:28:35 [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 11:28:35 [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 11:28:35 [debug] Moves scheduled 16530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17045
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:35 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16846, writes 0 timeouts 0
2025-04-24 11:28:35 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36095/37176
2025-04-24 11:28:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:35 [info] currentZPosition:0.133
2025-04-24 11:28:35 [debug] Stopped at height 0.135 mm
2025-04-24 11:28:36 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:37 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:37 [debug] Diagnostics for board 50:
2025-04-24 11:28:37 [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 11:28:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:42 ago, cause: software
2025-04-24 11:28:37 [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 11:28:37 [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 11:28:37 [debug] Moves scheduled 16538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=7009, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:37 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 24646, writes 0 timeouts 0
2025-04-24 11:28:37 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 36283/37177
2025-04-24 11:28:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:37 [info] currentZPosition:0.133
2025-04-24 11:28:38 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:38 [debug] Diagnostics for board 50:
2025-04-24 11:28:38 [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 11:28:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:43 ago, cause: software
2025-04-24 11:28:38 [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 11:28:38 [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 11:28:38 [debug] Moves scheduled 16542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 73, peak jitter -1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:38 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17120, writes 0 timeouts 0
2025-04-24 11:28:38 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37177
2025-04-24 11:28:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:38 [info] currentZPosition:0.133
2025-04-24 11:28:39 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:39 [debug] Diagnostics for board 50:
2025-04-24 11:28:39 [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 11:28:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:44 ago, cause: software
2025-04-24 11:28:39 [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 11:28:39 [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 11:28:39 [debug] Moves scheduled 16546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 86, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:28:39 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16639, writes 0 timeouts 0
2025-04-24 11:28:39 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37175
2025-04-24 11:28:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:40 [info] currentZPosition:0.133
2025-04-24 11:28:41 [debug] Stopped at height 0.131 mm
2025-04-24 11:28:41 [debug] Diagnostics for board 50:
2025-04-24 11:28:41 [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 11:28:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:46 ago, cause: software
2025-04-24 11:28:41 [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 11:28:41 [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 11:28:41 [debug] Moves scheduled 16550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 98, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:28:41 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17758, writes 0 timeouts 0
2025-04-24 11:28:41 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37172
2025-04-24 11:28:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:41 [info] currentZPosition:0.131
2025-04-24 11:28:41 [debug] Stopped at height 0.130 mm
2025-04-24 11:28:43 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:43 [debug] Diagnostics for board 50:
2025-04-24 11:28:43 [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 11:28:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:47 ago, cause: software
2025-04-24 11:28:43 [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 11:28:43 [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 11:28:43 [debug] Moves scheduled 16556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 104, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:43 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 20065, writes 0 timeouts 0
2025-04-24 11:28:43 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36164/37175
2025-04-24 11:28:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:43 [info] currentZPosition:0.133
2025-04-24 11:28:43 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:44 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:44 [debug] Diagnostics for board 50:
2025-04-24 11:28:44 [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 11:28:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:49 ago, cause: software
2025-04-24 11:28:44 [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 11:28:44 [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 11:28:44 [debug] Moves scheduled 16562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 114, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:44 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 21174, writes 0 timeouts 0
2025-04-24 11:28:44 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36087/37176
2025-04-24 11:28:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:44 [info] currentZPosition:0.133
2025-04-24 11:28:46 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:46 [debug] Diagnostics for board 50:
2025-04-24 11:28:46 [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 11:28:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:50 ago, cause: software
2025-04-24 11:28:46 [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 11:28:46 [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 11:28:46 [debug] Moves scheduled 16566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 117, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:46 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16725, writes 0 timeouts 0
2025-04-24 11:28:46 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 297, adv 36166/37176
2025-04-24 11:28:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:46 [info] currentZPosition:0.132
2025-04-24 11:28:47 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:47 [debug] Diagnostics for board 50:
2025-04-24 11:28:47 [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 11:28:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:52 ago, cause: software
2025-04-24 11:28:47 [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 11:28:47 [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 11:28:47 [debug] Moves scheduled 16570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 117, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:47 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17098, writes 0 timeouts 0
2025-04-24 11:28:47 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37177
2025-04-24 11:28:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:47 [info] currentZPosition:0.132
2025-04-24 11:28:48 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:48 [debug] Diagnostics for board 50:
2025-04-24 11:28:48 [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 11:28:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:53 ago, cause: software
2025-04-24 11:28:48 [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 11:28:48 [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 11:28:48 [debug] Moves scheduled 16574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 116, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:48 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16268, writes 0 timeouts 0
2025-04-24 11:28:48 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36167/37175
2025-04-24 11:28:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:48 [info] currentZPosition:0.133
2025-04-24 11:28:50 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:50 [debug] Diagnostics for board 50:
2025-04-24 11:28:50 [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 11:28:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:30:54 ago, cause: software
2025-04-24 11:28:50 [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 11:28:50 [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 11:28:50 [debug] Moves scheduled 16578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 113, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:50 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17536, writes 0 timeouts 0
2025-04-24 11:28:50 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 11:28:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:50 [info] currentZPosition:0.132
2025-04-24 11:28:51 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:51 [debug] Diagnostics for board 50:
2025-04-24 11:28:51 [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 11:28:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:56 ago, cause: software
2025-04-24 11:28:51 [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 11:28:51 [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 11:28:51 [debug] Moves scheduled 16582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 109, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:28:51 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16734, writes 0 timeouts 0
2025-04-24 11:28:51 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37177
2025-04-24 11:28:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:51 [info] currentZPosition:0.132
2025-04-24 11:28:52 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:52 [debug] Diagnostics for board 50:
2025-04-24 11:28:52 [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 11:28:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:57 ago, cause: software
2025-04-24 11:28:52 [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 11:28:52 [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 11:28:52 [debug] Moves scheduled 16586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 102, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:28:52 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17273, writes 0 timeouts 0
2025-04-24 11:28:52 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37177
2025-04-24 11:28:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:52 [info] currentZPosition:0.132
2025-04-24 11:28:54 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:54 [debug] Diagnostics for board 50:
2025-04-24 11:28:54 [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 11:28:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:30:58 ago, cause: software
2025-04-24 11:28:54 [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 11:28:54 [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 11:28:54 [debug] Moves scheduled 16590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 90, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:54 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16373, writes 0 timeouts 0
2025-04-24 11:28:54 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37176
2025-04-24 11:28:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:54 [info] currentZPosition:0.132
2025-04-24 11:28:55 [debug] Stopped at height 0.134 mm
2025-04-24 11:28:55 [debug] Diagnostics for board 50:
2025-04-24 11:28:55 [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 11:28:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:00 ago, cause: software
2025-04-24 11:28:55 [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 11:28:55 [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 11:28:55 [debug] Moves scheduled 16594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5905, max=17045
Sync err accum 74, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:28:55 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16610, writes 0 timeouts 0
2025-04-24 11:28:55 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 11:28:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:55 [info] currentZPosition:0.134
2025-04-24 11:28:55 [debug] Stopped at height 0.134 mm
2025-04-24 11:28:57 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:57 [debug] Diagnostics for board 50:
2025-04-24 11:28:57 [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 11:28:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:01 ago, cause: software
2025-04-24 11:28:57 [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 11:28:57 [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 11:28:57 [debug] Moves scheduled 16600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:57 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20975, writes 0 timeouts 0
2025-04-24 11:28:57 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37178
2025-04-24 11:28:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:57 [info] currentZPosition:0.133
2025-04-24 11:28:58 [debug] Stopped at height 0.132 mm
2025-04-24 11:28:58 [debug] Diagnostics for board 50:
2025-04-24 11:28:58 [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 11:28:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:03 ago, cause: software
2025-04-24 11:28:58 [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 11:28:58 [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 11:28:58 [debug] Moves scheduled 16604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 68, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:28:58 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17248, writes 0 timeouts 0
2025-04-24 11:28:58 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37172
2025-04-24 11:28:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:58 [info] currentZPosition:0.132
2025-04-24 11:28:59 [debug] Stopped at height 0.133 mm
2025-04-24 11:28:59 [debug] Diagnostics for board 50:
2025-04-24 11:28:59 [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 11:28:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:04 ago, cause: software
2025-04-24 11:28:59 [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 11:28:59 [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 11:28:59 [debug] Moves scheduled 16608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 77, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294929674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:28:59 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16453, writes 0 timeouts 0
2025-04-24 11:28:59 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36150/37171
2025-04-24 11:28:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:28:59 [info] currentZPosition:0.133
2025-04-24 11:29:01 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:01 [debug] Diagnostics for board 50:
2025-04-24 11:29:01 [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 11:29:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:06 ago, cause: software
2025-04-24 11:29:01 [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 11:29:01 [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 11:29:01 [debug] Moves scheduled 16612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=6696, max=18292
Sync err accum 85, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930787 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:01 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17019, writes 0 timeouts 0
2025-04-24 11:29:01 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36092/37175
2025-04-24 11:29:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:01 [info] currentZPosition:0.133
2025-04-24 11:29:02 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:02 [debug] Diagnostics for board 50:
2025-04-24 11:29:02 [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 11:29:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:07 ago, cause: software
2025-04-24 11:29:02 [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 11:29:02 [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 11:29:02 [debug] Moves scheduled 16616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:02 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16602, writes 0 timeouts 0
2025-04-24 11:29:02 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36158/37175
2025-04-24 11:29:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:02 [info] currentZPosition:0.134
2025-04-24 11:29:03 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:03 [debug] Diagnostics for board 50:
2025-04-24 11:29:03 [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 11:29:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:08 ago, cause: software
2025-04-24 11:29:03 [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 11:29:03 [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 11:29:03 [debug] Moves scheduled 16620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
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 4294935617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:29:03 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 17289, writes 0 timeouts 0
2025-04-24 11:29:03 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37174
2025-04-24 11:29:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:04 [info] currentZPosition:0.133
2025-04-24 11:29:05 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:05 [debug] Diagnostics for board 50:
2025-04-24 11:29:05 [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 11:29:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:10 ago, cause: software
2025-04-24 11:29:05 [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 11:29:05 [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 11:29:05 [debug] Moves scheduled 16624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:05 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16428, writes 0 timeouts 0
2025-04-24 11:29:05 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36150/37176
2025-04-24 11:29:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:05 [info] currentZPosition:0.134
2025-04-24 11:29:06 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:06 [debug] Diagnostics for board 50:
2025-04-24 11:29:06 [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 11:29:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:11 ago, cause: software
2025-04-24 11:29:06 [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 11:29:06 [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 11:29:06 [debug] Moves scheduled 16628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:06 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17559, writes 0 timeouts 0
2025-04-24 11:29:06 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 11:29:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:06 [info] currentZPosition:0.133
2025-04-24 11:29:08 [debug] Stopped at height 0.132 mm
2025-04-24 11:29:08 [debug] Diagnostics for board 50:
2025-04-24 11:29:08 [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 11:29:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:12 ago, cause: software
2025-04-24 11:29:08 [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 11:29:08 [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 11:29:08 [debug] Moves scheduled 16632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17857
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:08 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16868, writes 0 timeouts 0
2025-04-24 11:29:08 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36154/37174
2025-04-24 11:29:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:08 [info] currentZPosition:0.132
2025-04-24 11:29:09 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:09 [debug] Diagnostics for board 50:
2025-04-24 11:29:09 [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 11:29:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:14 ago, cause: software
2025-04-24 11:29:09 [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 11:29:09 [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 11:29:09 [debug] Moves scheduled 16636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6637, max=17857
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:09 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16566, writes 0 timeouts 0
2025-04-24 11:29:09 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36106/37177
2025-04-24 11:29:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:09 [info] currentZPosition:0.133
2025-04-24 11:29:09 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:10 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:10 [debug] Diagnostics for board 50:
2025-04-24 11:29:10 [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 11:29:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:15 ago, cause: software
2025-04-24 11:29:10 [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 11:29:10 [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 11:29:10 [debug] Moves scheduled 16642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:29:10 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20664, writes 0 timeouts 0
2025-04-24 11:29:10 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37178
2025-04-24 11:29:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:11 [info] currentZPosition:0.133
2025-04-24 11:29:12 [debug] Stopped at height 0.132 mm
2025-04-24 11:29:12 [debug] Diagnostics for board 50:
2025-04-24 11:29:12 [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 11:29:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:17 ago, cause: software
2025-04-24 11:29:12 [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 11:29:12 [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 11:29:12 [debug] Moves scheduled 16646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6410, max=17045
Sync err accum 62, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:12 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17562, writes 0 timeouts 0
2025-04-24 11:29:12 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36110/37175
2025-04-24 11:29:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:12 [info] currentZPosition:0.132
2025-04-24 11:29:13 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:13 [debug] Diagnostics for board 50:
2025-04-24 11:29:13 [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 11:29:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:18 ago, cause: software
2025-04-24 11:29:13 [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 11:29:13 [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 11:29:13 [debug] Moves scheduled 16650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 68, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:13 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16194, writes 0 timeouts 0
2025-04-24 11:29:13 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37175
2025-04-24 11:29:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:13 [info] currentZPosition:0.133
2025-04-24 11:29:15 [debug] Stopped at height 0.132 mm
2025-04-24 11:29:15 [debug] Diagnostics for board 50:
2025-04-24 11:29:15 [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 11:29:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:19 ago, cause: software
2025-04-24 11:29:15 [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 11:29:15 [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 11:29:15 [debug] Moves scheduled 16654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:15 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17366, writes 0 timeouts 0
2025-04-24 11:29:15 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37167
2025-04-24 11:29:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:15 [info] currentZPosition:0.132
2025-04-24 11:29:16 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:16 [debug] Diagnostics for board 50:
2025-04-24 11:29:16 [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 11:29:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:21 ago, cause: software
2025-04-24 11:29:16 [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 11:29:16 [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 11:29:16 [debug] Moves scheduled 16658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 94, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:29:16 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16117, writes 0 timeouts 0
2025-04-24 11:29:16 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36162/37167
2025-04-24 11:29:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:16 [info] currentZPosition:0.134
2025-04-24 11:29:16 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:18 [debug] Stopped at height 0.132 mm
2025-04-24 11:29:18 [debug] Diagnostics for board 50:
2025-04-24 11:29:18 [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 11:29:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:22 ago, cause: software
2025-04-24 11:29:18 [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 11:29:18 [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 11:29:18 [debug] Moves scheduled 16664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 106, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:18 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 21650, writes 0 timeouts 0
2025-04-24 11:29:18 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36094/37172
2025-04-24 11:29:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:18 [info] currentZPosition:0.132
2025-04-24 11:29:19 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:19 [debug] Diagnostics for board 50:
2025-04-24 11:29:19 [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 11:29:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:24 ago, cause: software
2025-04-24 11:29:19 [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 11:29:19 [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 11:29:19 [debug] Moves scheduled 16668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 116, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:19 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16110, writes 0 timeouts 0
2025-04-24 11:29:19 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37170
2025-04-24 11:29:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:19 [info] currentZPosition:0.133
2025-04-24 11:29:19 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:21 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:21 [debug] Diagnostics for board 50:
2025-04-24 11:29:21 [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 11:29:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:25 ago, cause: software
2025-04-24 11:29:21 [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 11:29:21 [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 11:29:21 [debug] Moves scheduled 16674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 123, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:21 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 21015, writes 0 timeouts 0
2025-04-24 11:29:21 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37176
2025-04-24 11:29:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:21 [info] currentZPosition:0.134
2025-04-24 11:29:22 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:22 [debug] Diagnostics for board 50:
2025-04-24 11:29:22 [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 11:29:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:27 ago, cause: software
2025-04-24 11:29:22 [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 11:29:22 [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 11:29:22 [debug] Moves scheduled 16678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 126, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:22 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16404, writes 0 timeouts 0
2025-04-24 11:29:22 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36151/37176
2025-04-24 11:29:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:22 [info] currentZPosition:0.134
2025-04-24 11:29:23 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:23 [debug] Diagnostics for board 50:
2025-04-24 11:29:23 [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 11:29:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:28 ago, cause: software
2025-04-24 11:29:23 [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 11:29:23 [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 11:29:23 [debug] Moves scheduled 16682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 126, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:23 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17600, writes 0 timeouts 0
2025-04-24 11:29:23 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 11:29:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:23 [info] currentZPosition:0.133
2025-04-24 11:29:24 [debug] Stopped at height 0.132 mm
2025-04-24 11:29:25 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:25 [debug] Diagnostics for board 50:
2025-04-24 11:29:25 [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 11:29:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:30 ago, cause: software
2025-04-24 11:29:25 [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 11:29:25 [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 11:29:25 [debug] Moves scheduled 16688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 124, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:25 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20692, writes 0 timeouts 0
2025-04-24 11:29:25 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37178
2025-04-24 11:29:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:25 [info] currentZPosition:0.133
2025-04-24 11:29:26 [debug] Stopped at height 0.135 mm
2025-04-24 11:29:26 [debug] Diagnostics for board 50:
2025-04-24 11:29:26 [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 11:29:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:31 ago, cause: software
2025-04-24 11:29:26 [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 11:29:26 [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 11:29:26 [debug] Moves scheduled 16692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=493, max=17441
Sync err accum 121, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:26 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16699, writes 11 timeouts 1
2025-04-24 11:29:26 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37175
2025-04-24 11:29:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 808
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:26 [info] currentZPosition:0.135
2025-04-24 11:29:27 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:28 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:28 [debug] Diagnostics for board 50:
2025-04-24 11:29:28 [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 11:29:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:33 ago, cause: software
2025-04-24 11:29:28 [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 11:29:28 [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 11:29:28 [debug] Moves scheduled 16698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 111, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:29:28 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20813, writes 0 timeouts 0
2025-04-24 11:29:28 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 296, adv 36164/37173
2025-04-24 11:29:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:28 [info] currentZPosition:0.133
2025-04-24 11:29:29 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:29 [debug] Diagnostics for board 50:
2025-04-24 11:29:29 [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 11:29:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:34 ago, cause: software
2025-04-24 11:29:29 [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 11:29:29 [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 11:29:29 [debug] Moves scheduled 16702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7009, max=17045
Sync err accum 100, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:29:29 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17129, writes 0 timeouts 0
2025-04-24 11:29:29 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36113/37177
2025-04-24 11:29:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:29 [info] currentZPosition:0.134
2025-04-24 11:29:31 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:31 [debug] Diagnostics for board 50:
2025-04-24 11:29:31 [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 11:29:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:35 ago, cause: software
2025-04-24 11:29:31 [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 11:29:31 [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 11:29:31 [debug] Moves scheduled 16706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 85, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:31 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16578, writes 0 timeouts 0
2025-04-24 11:29:31 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36287/37175
2025-04-24 11:29:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:31 [info] currentZPosition:0.134
2025-04-24 11:29:32 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:32 [debug] Diagnostics for board 50:
2025-04-24 11:29:32 [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 11:29:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:37 ago, cause: software
2025-04-24 11:29:32 [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 11:29:32 [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 11:29:32 [debug] Moves scheduled 16710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 71, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294927521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:32 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17266, writes 0 timeouts 0
2025-04-24 11:29:32 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37179
2025-04-24 11:29:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:32 [info] currentZPosition:0.134
2025-04-24 11:29:33 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:33 [debug] Diagnostics for board 50:
2025-04-24 11:29:33 [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 11:29:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:38 ago, cause: software
2025-04-24 11:29:33 [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 11:29:33 [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 11:29:33 [debug] Moves scheduled 16714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:33 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16557, writes 0 timeouts 0
2025-04-24 11:29:33 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37178
2025-04-24 11:29:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:33 [info] currentZPosition:0.134
2025-04-24 11:29:35 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:35 [debug] Diagnostics for board 50:
2025-04-24 11:29:35 [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 11:29:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:40 ago, cause: software
2025-04-24 11:29:35 [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 11:29:35 [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 11:29:35 [debug] Moves scheduled 16718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=500, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:29:35 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17582, writes 11 timeouts 1
2025-04-24 11:29:35 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 11:29:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:35 [info] currentZPosition:0.133
2025-04-24 11:29:35 [debug] Stopped at height 0.132 mm
2025-04-24 11:29:36 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:36 [debug] Diagnostics for board 50:
2025-04-24 11:29:36 [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 11:29:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:41 ago, cause: software
2025-04-24 11:29:36 [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 11:29:36 [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 11:29:36 [debug] Moves scheduled 16724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 85, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:29:36 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 20425, writes 0 timeouts 0
2025-04-24 11:29:36 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36396/37173
2025-04-24 11:29:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:36 [info] currentZPosition:0.133
2025-04-24 11:29:38 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:38 [debug] Diagnostics for board 50:
2025-04-24 11:29:38 [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 11:29:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:43 ago, cause: software
2025-04-24 11:29:38 [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 11:29:38 [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 11:29:38 [debug] Moves scheduled 16728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:38 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16840, writes 0 timeouts 0
2025-04-24 11:29:38 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37174
2025-04-24 11:29:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:38 [info] currentZPosition:0.134
2025-04-24 11:29:39 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:39 [debug] Diagnostics for board 50:
2025-04-24 11:29:39 [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 11:29:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:44 ago, cause: software
2025-04-24 11:29:39 [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 11:29:39 [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 11:29:39 [debug] Moves scheduled 16732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:29:39 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17015, writes 0 timeouts 0
2025-04-24 11:29:39 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36395/37175
2025-04-24 11:29:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:39 [info] currentZPosition:0.133
2025-04-24 11:29:39 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:41 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:41 [debug] Diagnostics for board 50:
2025-04-24 11:29:41 [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 11:29:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:31:46 ago, cause: software
2025-04-24 11:29:41 [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 11:29:41 [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 11:29:41 [debug] Moves scheduled 16738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5905, max=18292
Sync err accum 98, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:41 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20879, writes 0 timeouts 0
2025-04-24 11:29:41 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 11:29:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:41 [info] currentZPosition:0.133
2025-04-24 11:29:42 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:42 [debug] Diagnostics for board 50:
2025-04-24 11:29:42 [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 11:29:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:47 ago, cause: software
2025-04-24 11:29:42 [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 11:29:42 [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 11:29:42 [debug] Moves scheduled 16742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:42 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16334, writes 0 timeouts 0
2025-04-24 11:29:42 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36383/37173
2025-04-24 11:29:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:42 [info] currentZPosition:0.134
2025-04-24 11:29:43 [debug] Stopped at height 0.135 mm
2025-04-24 11:29:43 [debug] Diagnostics for board 50:
2025-04-24 11:29:43 [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 11:29:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:48 ago, cause: software
2025-04-24 11:29:43 [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 11:29:43 [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 11:29:43 [debug] Moves scheduled 16746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 93, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294935113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:43 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 17071, writes 0 timeouts 0
2025-04-24 11:29:43 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 297, adv 36112/37177
2025-04-24 11:29:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:44 [info] currentZPosition:0.135
2025-04-24 11:29:45 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:45 [debug] Diagnostics for board 50:
2025-04-24 11:29:45 [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 11:29:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:50 ago, cause: software
2025-04-24 11:29:45 [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 11:29:45 [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 11:29:45 [debug] Moves scheduled 16750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=530, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294936405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:29:45 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16984, writes 11 timeouts 1
2025-04-24 11:29:45 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37171
2025-04-24 11:29:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:45 [info] currentZPosition:0.133
2025-04-24 11:29:45 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:46 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:46 [debug] Diagnostics for board 50:
2025-04-24 11:29:46 [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 11:29:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:51 ago, cause: software
2025-04-24 11:29:46 [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 11:29:46 [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 11:29:46 [debug] Moves scheduled 16756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:29:46 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20689, writes 0 timeouts 0
2025-04-24 11:29:46 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37177
2025-04-24 11:29:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:47 [info] currentZPosition:0.134
2025-04-24 11:29:48 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:48 [debug] Diagnostics for board 50:
2025-04-24 11:29:48 [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 11:29:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:53 ago, cause: software
2025-04-24 11:29:48 [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 11:29:48 [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 11:29:48 [debug] Moves scheduled 16760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6302, max=17045
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 4294934695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:48 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16733, writes 0 timeouts 0
2025-04-24 11:29:48 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36407/37176
2025-04-24 11:29:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:48 [info] currentZPosition:0.134
2025-04-24 11:29:49 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:49 [debug] Diagnostics for board 50:
2025-04-24 11:29:49 [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 11:29:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:54 ago, cause: software
2025-04-24 11:29:49 [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 11:29:49 [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 11:29:49 [debug] Moves scheduled 16764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6302, max=18292
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294934739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 11:29:49 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17362, writes 0 timeouts 0
2025-04-24 11:29:49 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37173
2025-04-24 11:29:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:49 [info] currentZPosition:0.133
2025-04-24 11:29:51 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:51 [debug] Diagnostics for board 50:
2025-04-24 11:29:51 [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 11:29:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:55 ago, cause: software
2025-04-24 11:29:51 [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 11:29:51 [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 11:29:51 [debug] Moves scheduled 16768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6355, max=17441
Sync err accum 74, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:51 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16499, writes 0 timeouts 0
2025-04-24 11:29:51 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37172
2025-04-24 11:29:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:51 [info] currentZPosition:0.134
2025-04-24 11:29:52 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:52 [debug] Diagnostics for board 50:
2025-04-24 11:29:52 [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 11:29:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:57 ago, cause: software
2025-04-24 11:29:52 [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 11:29:52 [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 11:29:52 [debug] Moves scheduled 16772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 77, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:52 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17314, writes 0 timeouts 0
2025-04-24 11:29:52 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37175
2025-04-24 11:29:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:52 [info] currentZPosition:0.134
2025-04-24 11:29:53 [debug] Stopped at height 0.133 mm
2025-04-24 11:29:53 [debug] Diagnostics for board 50:
2025-04-24 11:29:53 [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 11:29:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:31:58 ago, cause: software
2025-04-24 11:29:53 [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 11:29:53 [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 11:29:53 [debug] Moves scheduled 16776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:29:53 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16676, writes 0 timeouts 0
2025-04-24 11:29:53 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37174
2025-04-24 11:29:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:53 [info] currentZPosition:0.133
2025-04-24 11:29:55 [debug] Stopped at height 0.135 mm
2025-04-24 11:29:55 [debug] Diagnostics for board 50:
2025-04-24 11:29:55 [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 11:29:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:31:59 ago, cause: software
2025-04-24 11:29:55 [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 11:29:55 [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 11:29:55 [debug] Moves scheduled 16780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=17045
Sync err accum 86, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:55 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16805, writes 0 timeouts 0
2025-04-24 11:29:55 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36096/37175
2025-04-24 11:29:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8909, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:55 [info] currentZPosition:0.135
2025-04-24 11:29:56 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:56 [debug] Diagnostics for board 50:
2025-04-24 11:29:56 [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 11:29:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:01 ago, cause: software
2025-04-24 11:29:56 [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 11:29:56 [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 11:29:56 [debug] Moves scheduled 16784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6302, max=18292
Sync err accum 86, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:56 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16842, writes 0 timeouts 0
2025-04-24 11:29:56 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37172
2025-04-24 11:29:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:56 [info] currentZPosition:0.134
2025-04-24 11:29:57 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:57 [debug] Diagnostics for board 50:
2025-04-24 11:29:57 [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 11:29:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:02 ago, cause: software
2025-04-24 11:29:57 [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 11:29:57 [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 11:29:57 [debug] Moves scheduled 16788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294928733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:29:57 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17161, writes 0 timeouts 0
2025-04-24 11:29:57 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36113/37172
2025-04-24 11:29:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:57 [info] currentZPosition:0.134
2025-04-24 11:29:59 [debug] Stopped at height 0.134 mm
2025-04-24 11:29:59 [debug] Diagnostics for board 50:
2025-04-24 11:29:59 [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 11:29:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:03 ago, cause: software
2025-04-24 11:29:59 [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 11:29:59 [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 11:29:59 [debug] Moves scheduled 16792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:29:59 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16665, writes 0 timeouts 0
2025-04-24 11:29:59 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37176
2025-04-24 11:29:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:29:59 [info] currentZPosition:0.134
2025-04-24 11:30:00 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:00 [debug] Diagnostics for board 50:
2025-04-24 11:30:00 [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 11:30:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:05 ago, cause: software
2025-04-24 11:30:00 [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 11:30:00 [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 11:30:00 [debug] Moves scheduled 16796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:00 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16953, writes 0 timeouts 0
2025-04-24 11:30:00 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37173
2025-04-24 11:30:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:00 [info] currentZPosition:0.135
2025-04-24 11:30:01 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:01 [debug] Diagnostics for board 50:
2025-04-24 11:30:01 [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 11:30:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:06 ago, cause: software
2025-04-24 11:30:01 [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 11:30:01 [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 11:30:01 [debug] Moves scheduled 16800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:01 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16808, writes 0 timeouts 0
2025-04-24 11:30:01 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37176
2025-04-24 11:30:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:01 [info] currentZPosition:0.134
2025-04-24 11:30:03 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:03 [debug] Diagnostics for board 50:
2025-04-24 11:30:03 [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 11:30:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:08 ago, cause: software
2025-04-24 11:30:03 [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 11:30:03 [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 11:30:03 [debug] Moves scheduled 16804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 68, peak jitter -2/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294928719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:03 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17105, writes 0 timeouts 0
2025-04-24 11:30:03 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37174
2025-04-24 11:30:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:03 [info] currentZPosition:0.135
2025-04-24 11:30:04 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:04 [debug] Diagnostics for board 50:
2025-04-24 11:30:04 [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 11:30:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:09 ago, cause: software
2025-04-24 11:30:04 [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 11:30:04 [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 11:30:04 [debug] Moves scheduled 16808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:04 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16808, writes 0 timeouts 0
2025-04-24 11:30:04 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36397/37175
2025-04-24 11:30:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:04 [info] currentZPosition:0.134
2025-04-24 11:30:05 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:05 [debug] Diagnostics for board 50:
2025-04-24 11:30:05 [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 11:30:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:10 ago, cause: software
2025-04-24 11:30:05 [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 11:30:05 [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 11:30:05 [debug] Moves scheduled 16812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6465, max=18292
Sync err accum 84, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:05 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17255, writes 0 timeouts 0
2025-04-24 11:30:05 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37171
2025-04-24 11:30:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:06 [info] currentZPosition:0.134
2025-04-24 11:30:07 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:07 [debug] Diagnostics for board 50:
2025-04-24 11:30:07 [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 11:30:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:32:12 ago, cause: software
2025-04-24 11:30:07 [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 11:30:07 [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 11:30:07 [debug] Moves scheduled 16816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:07 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16395, writes 0 timeouts 0
2025-04-24 11:30:07 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36405/37171
2025-04-24 11:30:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:07 [info] currentZPosition:0.135
2025-04-24 11:30:08 [debug] Stopped at height 0.133 mm
2025-04-24 11:30:08 [debug] Diagnostics for board 50:
2025-04-24 11:30:08 [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 11:30:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:13 ago, cause: software
2025-04-24 11:30:08 [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 11:30:08 [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 11:30:08 [debug] Moves scheduled 16820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=18292
Sync err accum 88, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:08 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17803, writes 0 timeouts 0
2025-04-24 11:30:08 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37174
2025-04-24 11:30:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4542, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:08 [info] currentZPosition:0.133
2025-04-24 11:30:09 [debug] Stopped at height 0.131 mm
2025-04-24 11:30:09 [debug] Stopped at height 0.133 mm
2025-04-24 11:30:09 [debug] Stopped at height 0.130 mm
2025-04-24 11:30:10 [debug] Stopped at height 0.130 mm
2025-04-24 11:30:11 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:11 [debug] Diagnostics for board 50:
2025-04-24 11:30:11 [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 11:30:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:16 ago, cause: software
2025-04-24 11:30:11 [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 11:30:11 [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 11:30:11 [debug] Moves scheduled 16832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:11 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 32406, writes 0 timeouts 0
2025-04-24 11:30:11 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37176
2025-04-24 11:30:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:11 [info] currentZPosition:0.134
2025-04-24 11:30:11 [debug] Stopped at height 0.137 mm
2025-04-24 11:30:12 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:12 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:13 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:13 [debug] Diagnostics for board 50:
2025-04-24 11:30:13 [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 11:30:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:18 ago, cause: software
2025-04-24 11:30:13 [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 11:30:13 [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 11:30:13 [debug] Moves scheduled 16842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6578, max=17857
Sync err accum 77, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:30:13 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 29171, writes 0 timeouts 0
2025-04-24 11:30:13 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 291, adv 36105/37176
2025-04-24 11:30:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:13 [info] currentZPosition:0.135
2025-04-24 11:30:14 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:14 [debug] Diagnostics for board 50:
2025-04-24 11:30:14 [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 11:30:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:19 ago, cause: software
2025-04-24 11:30:14 [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 11:30:14 [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 11:30:14 [debug] Moves scheduled 16846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:14 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16525, writes 0 timeouts 0
2025-04-24 11:30:14 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36400/37176
2025-04-24 11:30:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:14 [info] currentZPosition:0.135
2025-04-24 11:30:16 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:16 [debug] Diagnostics for board 50:
2025-04-24 11:30:16 [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 11:30:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:21 ago, cause: software
2025-04-24 11:30:16 [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 11:30:16 [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 11:30:16 [debug] Moves scheduled 16850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17857
Sync err accum 64, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:16 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17325, writes 0 timeouts 0
2025-04-24 11:30:16 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36103/37176
2025-04-24 11:30:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:16 [info] currentZPosition:0.134
2025-04-24 11:30:17 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:17 [debug] Diagnostics for board 50:
2025-04-24 11:30:17 [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 11:30:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:22 ago, cause: software
2025-04-24 11:30:17 [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 11:30:17 [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 11:30:17 [debug] Moves scheduled 16854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=516, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:30:17 [debug] Driver 0: pos -3480, 10060.2 steps/mm, phase A may be disconnected, SG min 0, mspos 616, reads 16329, writes 22 timeouts 2
2025-04-24 11:30:17 [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 285, adv 36401/37173
2025-04-24 11:30:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:17 [info] currentZPosition:0.135
2025-04-24 11:30:19 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:19 [debug] Diagnostics for board 50:
2025-04-24 11:30:19 [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 11:30:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:23 ago, cause: software
2025-04-24 11:30:19 [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 11:30:19 [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 11:30:19 [debug] Moves scheduled 16858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:19 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17566, writes 0 timeouts 0
2025-04-24 11:30:19 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36093/37174
2025-04-24 11:30:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:19 [info] currentZPosition:0.134
2025-04-24 11:30:20 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:20 [debug] Diagnostics for board 50:
2025-04-24 11:30:20 [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 11:30:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:25 ago, cause: software
2025-04-24 11:30:20 [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 11:30:20 [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 11:30:20 [debug] Moves scheduled 16862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 88, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:20 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16274, writes 0 timeouts 0
2025-04-24 11:30:20 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37177
2025-04-24 11:30:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:20 [info] currentZPosition:0.135
2025-04-24 11:30:21 [debug] Stopped at height 0.133 mm
2025-04-24 11:30:21 [debug] Diagnostics for board 50:
2025-04-24 11:30:21 [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 11:30:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:26 ago, cause: software
2025-04-24 11:30:21 [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 11:30:21 [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 11:30:21 [debug] Moves scheduled 16866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:21 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17771, writes 0 timeouts 0
2025-04-24 11:30:21 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37173
2025-04-24 11:30:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:21 [info] currentZPosition:0.133
2025-04-24 11:30:22 [debug] Stopped at height 0.133 mm
2025-04-24 11:30:23 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:23 [debug] Diagnostics for board 50:
2025-04-24 11:30:23 [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 11:30:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:28 ago, cause: software
2025-04-24 11:30:23 [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 11:30:23 [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 11:30:23 [debug] Moves scheduled 16872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17857
Sync err accum 89, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:23 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 20044, writes 0 timeouts 0
2025-04-24 11:30:23 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36395/37176
2025-04-24 11:30:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:23 [info] currentZPosition:0.135
2025-04-24 11:30:23 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:25 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:25 [debug] Diagnostics for board 50:
2025-04-24 11:30:25 [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 11:30:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:29 ago, cause: software
2025-04-24 11:30:25 [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 11:30:25 [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 11:30:25 [debug] Moves scheduled 16878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:25 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 21141, writes 0 timeouts 0
2025-04-24 11:30:25 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37174
2025-04-24 11:30:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:25 [info] currentZPosition:0.135
2025-04-24 11:30:26 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:26 [debug] Diagnostics for board 50:
2025-04-24 11:30:26 [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 11:30:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:31 ago, cause: software
2025-04-24 11:30:26 [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 11:30:26 [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 11:30:26 [debug] Moves scheduled 16882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6000, max=17045
Sync err accum 81, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:26 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16382, writes 0 timeouts 0
2025-04-24 11:30:26 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36285/37173
2025-04-24 11:30:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:26 [info] currentZPosition:0.135
2025-04-24 11:30:27 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:27 [debug] Diagnostics for board 50:
2025-04-24 11:30:27 [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 11:30:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:32 ago, cause: software
2025-04-24 11:30:27 [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 11:30:27 [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 11:30:27 [debug] Moves scheduled 16886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 71, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:27 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17325, writes 0 timeouts 0
2025-04-24 11:30:27 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36097/37175
2025-04-24 11:30:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:27 [info] currentZPosition:0.135
2025-04-24 11:30:29 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:29 [debug] Diagnostics for board 50:
2025-04-24 11:30:29 [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 11:30:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:33 ago, cause: software
2025-04-24 11:30:29 [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 11:30:29 [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 11:30:29 [debug] Moves scheduled 16890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 61, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:29 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16688, writes 0 timeouts 0
2025-04-24 11:30:29 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37178
2025-04-24 11:30:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:29 [info] currentZPosition:0.135
2025-04-24 11:30:30 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:30 [debug] Diagnostics for board 50:
2025-04-24 11:30:30 [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 11:30:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:35 ago, cause: software
2025-04-24 11:30:30 [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 11:30:30 [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 11:30:30 [debug] Moves scheduled 16894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 69, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:30 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17338, writes 0 timeouts 0
2025-04-24 11:30:30 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36102/37173
2025-04-24 11:30:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:30 [info] currentZPosition:0.134
2025-04-24 11:30:31 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:31 [debug] Diagnostics for board 50:
2025-04-24 11:30:31 [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 11:30:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:36 ago, cause: software
2025-04-24 11:30:31 [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 11:30:31 [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 11:30:31 [debug] Moves scheduled 16898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 78, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:31 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16083, writes 0 timeouts 0
2025-04-24 11:30:31 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37174
2025-04-24 11:30:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:31 [info] currentZPosition:0.136
2025-04-24 11:30:32 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:33 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:33 [debug] Diagnostics for board 50:
2025-04-24 11:30:33 [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 11:30:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:38 ago, cause: software
2025-04-24 11:30:33 [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 11:30:33 [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 11:30:33 [debug] Moves scheduled 16904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 86, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:33 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20977, writes 0 timeouts 0
2025-04-24 11:30:33 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37175
2025-04-24 11:30:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:33 [info] currentZPosition:0.136
2025-04-24 11:30:33 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:35 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:35 [debug] Diagnostics for board 50:
2025-04-24 11:30:35 [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 11:30:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:39 ago, cause: software
2025-04-24 11:30:35 [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 11:30:35 [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 11:30:35 [debug] Moves scheduled 16910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:35 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20461, writes 0 timeouts 0
2025-04-24 11:30:35 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36142/37174
2025-04-24 11:30:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:35 [info] currentZPosition:0.136
2025-04-24 11:30:35 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:36 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:36 [debug] Diagnostics for board 50:
2025-04-24 11:30:36 [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 11:30:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:41 ago, cause: software
2025-04-24 11:30:36 [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 11:30:36 [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 11:30:36 [debug] Moves scheduled 16916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:36 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 21242, writes 0 timeouts 0
2025-04-24 11:30:36 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37176
2025-04-24 11:30:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:36 [info] currentZPosition:0.135
2025-04-24 11:30:38 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:38 [debug] Diagnostics for board 50:
2025-04-24 11:30:38 [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 11:30:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:42 ago, cause: software
2025-04-24 11:30:38 [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 11:30:38 [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 11:30:38 [debug] Moves scheduled 16920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:38 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16294, writes 0 timeouts 0
2025-04-24 11:30:38 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37173
2025-04-24 11:30:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:38 [info] currentZPosition:0.136
2025-04-24 11:30:39 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:39 [debug] Diagnostics for board 50:
2025-04-24 11:30:39 [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 11:30:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:44 ago, cause: software
2025-04-24 11:30:39 [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 11:30:39 [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 11:30:39 [debug] Moves scheduled 16924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 81, peak jitter -1/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294934724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:39 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17541, writes 0 timeouts 0
2025-04-24 11:30:39 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37177
2025-04-24 11:30:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:39 [info] currentZPosition:0.135
2025-04-24 11:30:39 [debug] Stopped at height 0.134 mm
2025-04-24 11:30:41 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:41 [debug] Diagnostics for board 50:
2025-04-24 11:30:41 [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 11:30:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:45 ago, cause: software
2025-04-24 11:30:41 [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 11:30:41 [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 11:30:41 [debug] Moves scheduled 16930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=515, max=18292
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:41 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 20733, writes 11 timeouts 1
2025-04-24 11:30:41 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36146/37176
2025-04-24 11:30:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:41 [info] currentZPosition:0.135
2025-04-24 11:30:42 [debug] Stopped at height 0.137 mm
2025-04-24 11:30:42 [debug] Diagnostics for board 50:
2025-04-24 11:30:42 [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 11:30:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:47 ago, cause: software
2025-04-24 11:30:42 [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 11:30:42 [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 11:30:42 [debug] Moves scheduled 16934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:42 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16571, writes 0 timeouts 0
2025-04-24 11:30:42 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37178
2025-04-24 11:30:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:42 [info] currentZPosition:0.137
2025-04-24 11:30:42 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:44 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:44 [debug] Diagnostics for board 50:
2025-04-24 11:30:44 [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 11:30:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:48 ago, cause: software
2025-04-24 11:30:44 [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 11:30:44 [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 11:30:44 [debug] Moves scheduled 16940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 71, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:44 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20677, writes 0 timeouts 0
2025-04-24 11:30:44 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37173
2025-04-24 11:30:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:44 [info] currentZPosition:0.136
2025-04-24 11:30:45 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:45 [debug] Diagnostics for board 50:
2025-04-24 11:30:45 [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 11:30:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:50 ago, cause: software
2025-04-24 11:30:45 [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 11:30:45 [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 11:30:45 [debug] Moves scheduled 16944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:45 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17685, writes 0 timeouts 0
2025-04-24 11:30:45 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37174
2025-04-24 11:30:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:45 [info] currentZPosition:0.135
2025-04-24 11:30:45 [debug] Stopped at height 0.133 mm
2025-04-24 11:30:47 [debug] Stopped at height 0.137 mm
2025-04-24 11:30:47 [debug] Diagnostics for board 50:
2025-04-24 11:30:47 [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 11:30:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:51 ago, cause: software
2025-04-24 11:30:47 [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 11:30:47 [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 11:30:47 [debug] Moves scheduled 16950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:47 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 19931, writes 0 timeouts 0
2025-04-24 11:30:47 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36156/37174
2025-04-24 11:30:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:47 [info] currentZPosition:0.137
2025-04-24 11:30:47 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:48 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:48 [debug] Diagnostics for board 50:
2025-04-24 11:30:48 [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 11:30:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:53 ago, cause: software
2025-04-24 11:30:48 [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 11:30:48 [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 11:30:48 [debug] Moves scheduled 16956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:48 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21782, writes 0 timeouts 0
2025-04-24 11:30:48 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37173
2025-04-24 11:30:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:48 [info] currentZPosition:0.135
2025-04-24 11:30:50 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:50 [debug] Diagnostics for board 50:
2025-04-24 11:30:50 [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 11:30:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:55 ago, cause: software
2025-04-24 11:30:50 [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 11:30:50 [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 11:30:50 [debug] Moves scheduled 16960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 91, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:50 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16387, writes 0 timeouts 0
2025-04-24 11:30:50 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36166/37176
2025-04-24 11:30:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:50 [info] currentZPosition:0.136
2025-04-24 11:30:51 [debug] Stopped at height 0.137 mm
2025-04-24 11:30:51 [debug] Diagnostics for board 50:
2025-04-24 11:30:51 [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 11:30:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:56 ago, cause: software
2025-04-24 11:30:51 [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 11:30:51 [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 11:30:51 [debug] Moves scheduled 16964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:51 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16938, writes 0 timeouts 0
2025-04-24 11:30:51 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36109/37174
2025-04-24 11:30:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:51 [info] currentZPosition:0.137
2025-04-24 11:30:52 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:52 [debug] Diagnostics for board 50:
2025-04-24 11:30:52 [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 11:30:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:57 ago, cause: software
2025-04-24 11:30:52 [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 11:30:52 [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 11:30:52 [debug] Moves scheduled 16968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 84, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:52 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16729, writes 0 timeouts 0
2025-04-24 11:30:52 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37177
2025-04-24 11:30:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:52 [info] currentZPosition:0.136
2025-04-24 11:30:54 [debug] Stopped at height 0.137 mm
2025-04-24 11:30:54 [debug] Diagnostics for board 50:
2025-04-24 11:30:54 [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 11:30:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:32:59 ago, cause: software
2025-04-24 11:30:54 [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 11:30:54 [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 11:30:54 [debug] Moves scheduled 16972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:30:54 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16940, writes 0 timeouts 0
2025-04-24 11:30:54 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36112/37175
2025-04-24 11:30:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:54 [info] currentZPosition:0.137
2025-04-24 11:30:55 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:55 [debug] Diagnostics for board 50:
2025-04-24 11:30:55 [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 11:30:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:00 ago, cause: software
2025-04-24 11:30:55 [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 11:30:55 [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 11:30:55 [debug] Moves scheduled 16976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=18292
Sync err accum 68, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:55 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16833, writes 0 timeouts 0
2025-04-24 11:30:55 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37177
2025-04-24 11:30:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:55 [info] currentZPosition:0.136
2025-04-24 11:30:56 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:56 [debug] Diagnostics for board 50:
2025-04-24 11:30:56 [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 11:30:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:01 ago, cause: software
2025-04-24 11:30:56 [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 11:30:56 [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 11:30:56 [debug] Moves scheduled 16980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 63, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:30:56 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17578, writes 0 timeouts 0
2025-04-24 11:30:56 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37176
2025-04-24 11:30:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:57 [info] currentZPosition:0.135
2025-04-24 11:30:58 [debug] Stopped at height 0.136 mm
2025-04-24 11:30:58 [debug] Diagnostics for board 50:
2025-04-24 11:30:58 [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 11:30:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:03 ago, cause: software
2025-04-24 11:30:58 [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 11:30:58 [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 11:30:58 [debug] Moves scheduled 16984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 77, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:58 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16361, writes 0 timeouts 0
2025-04-24 11:30:58 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37172
2025-04-24 11:30:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:58 [info] currentZPosition:0.136
2025-04-24 11:30:59 [debug] Stopped at height 0.135 mm
2025-04-24 11:30:59 [debug] Diagnostics for board 50:
2025-04-24 11:30:59 [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 11:30:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:04 ago, cause: software
2025-04-24 11:30:59 [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 11:30:59 [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 11:30:59 [debug] Moves scheduled 16988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:30:59 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17287, writes 0 timeouts 0
2025-04-24 11:30:59 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37173
2025-04-24 11:30:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:30:59 [info] currentZPosition:0.135
2025-04-24 11:31:01 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:01 [debug] Diagnostics for board 50:
2025-04-24 11:31:01 [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 11:31:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:05 ago, cause: software
2025-04-24 11:31:01 [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 11:31:01 [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 11:31:01 [debug] Moves scheduled 16992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 92, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:01 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16555, writes 0 timeouts 0
2025-04-24 11:31:01 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36162/37173
2025-04-24 11:31:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:01 [info] currentZPosition:0.135
2025-04-24 11:31:02 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:02 [debug] Diagnostics for board 50:
2025-04-24 11:31:02 [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 11:31:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:07 ago, cause: software
2025-04-24 11:31:02 [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 11:31:02 [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 11:31:02 [debug] Moves scheduled 16996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6250, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:02 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16972, writes 0 timeouts 0
2025-04-24 11:31:02 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37168
2025-04-24 11:31:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:02 [info] currentZPosition:0.136
2025-04-24 11:31:03 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:03 [debug] Diagnostics for board 50:
2025-04-24 11:31:03 [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 11:31:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:08 ago, cause: software
2025-04-24 11:31:03 [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 11:31:03 [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 11:31:03 [debug] Moves scheduled 17000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=18292
Sync err accum 96, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:03 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16791, writes 0 timeouts 0
2025-04-24 11:31:03 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37173
2025-04-24 11:31:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:03 [info] currentZPosition:0.136
2025-04-24 11:31:05 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:05 [debug] Diagnostics for board 50:
2025-04-24 11:31:05 [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 11:31:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:09 ago, cause: software
2025-04-24 11:31:05 [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 11:31:05 [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 11:31:05 [debug] Moves scheduled 17004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 93, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:05 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17260, writes 0 timeouts 0
2025-04-24 11:31:05 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 11:31:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:05 [info] currentZPosition:0.135
2025-04-24 11:31:06 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:06 [debug] Diagnostics for board 50:
2025-04-24 11:31:06 [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 11:31:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:11 ago, cause: software
2025-04-24 11:31:06 [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 11:31:06 [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 11:31:06 [debug] Moves scheduled 17008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6696, max=18292
Sync err accum 91, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:31:06 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16168, writes 0 timeouts 0
2025-04-24 11:31:06 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36157/37175
2025-04-24 11:31:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:06 [info] currentZPosition:0.137
2025-04-24 11:31:06 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:08 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:08 [debug] Diagnostics for board 50:
2025-04-24 11:31:08 [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 11:31:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:12 ago, cause: software
2025-04-24 11:31:08 [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 11:31:08 [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 11:31:08 [debug] Moves scheduled 17014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=583, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:08 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 21075, writes 11 timeouts 1
2025-04-24 11:31:08 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37177
2025-04-24 11:31:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:08 [info] currentZPosition:0.136
2025-04-24 11:31:09 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:09 [debug] Diagnostics for board 50:
2025-04-24 11:31:09 [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 11:31:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:14 ago, cause: software
2025-04-24 11:31:09 [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 11:31:09 [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 11:31:09 [debug] Moves scheduled 17018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17857
Sync err accum 77, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:09 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16620, writes 0 timeouts 0
2025-04-24 11:31:09 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36037/37176
2025-04-24 11:31:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:09 [info] currentZPosition:0.136
2025-04-24 11:31:10 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:10 [debug] Diagnostics for board 50:
2025-04-24 11:31:10 [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 11:31:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:15 ago, cause: software
2025-04-24 11:31:10 [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 11:31:10 [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 11:31:10 [debug] Moves scheduled 17022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:31:10 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17055, writes 0 timeouts 0
2025-04-24 11:31:10 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37174
2025-04-24 11:31:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:10 [info] currentZPosition:0.137
2025-04-24 11:31:12 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:12 [debug] Diagnostics for board 50:
2025-04-24 11:31:12 [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 11:31:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:16 ago, cause: software
2025-04-24 11:31:12 [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 11:31:12 [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 11:31:12 [debug] Moves scheduled 17026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=18292
Sync err accum 63, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:12 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16713, writes 0 timeouts 0
2025-04-24 11:31:12 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36163/37177
2025-04-24 11:31:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:12 [info] currentZPosition:0.136
2025-04-24 11:31:13 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:13 [debug] Diagnostics for board 50:
2025-04-24 11:31:13 [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 11:31:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:18 ago, cause: software
2025-04-24 11:31:13 [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 11:31:13 [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 11:31:13 [debug] Moves scheduled 17030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 77, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:13 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17509, writes 0 timeouts 0
2025-04-24 11:31:13 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37172
2025-04-24 11:31:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:13 [info] currentZPosition:0.135
2025-04-24 11:31:14 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:14 [debug] Diagnostics for board 50:
2025-04-24 11:31:14 [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 11:31:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:19 ago, cause: software
2025-04-24 11:31:14 [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 11:31:14 [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 11:31:14 [debug] Moves scheduled 17034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 90, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:14 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16228, writes 0 timeouts 0
2025-04-24 11:31:14 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37174
2025-04-24 11:31:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:14 [info] currentZPosition:0.136
2025-04-24 11:31:16 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:16 [debug] Diagnostics for board 50:
2025-04-24 11:31:16 [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 11:31:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:21 ago, cause: software
2025-04-24 11:31:16 [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 11:31:16 [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 11:31:16 [debug] Moves scheduled 17038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 98, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:16 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17255, writes 0 timeouts 0
2025-04-24 11:31:16 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37171
2025-04-24 11:31:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:16 [info] currentZPosition:0.136
2025-04-24 11:31:17 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:17 [debug] Diagnostics for board 50:
2025-04-24 11:31:17 [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 11:31:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:22 ago, cause: software
2025-04-24 11:31:17 [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 11:31:17 [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 11:31:17 [debug] Moves scheduled 17042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6880, max=17045
Sync err accum 107, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294929376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:17 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16902, writes 0 timeouts 0
2025-04-24 11:31:17 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36156/37171
2025-04-24 11:31:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:17 [info] currentZPosition:0.135
2025-04-24 11:31:18 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:18 [debug] Diagnostics for board 50:
2025-04-24 11:31:18 [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 11:31:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:23 ago, cause: software
2025-04-24 11:31:18 [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 11:31:18 [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 11:31:18 [debug] Moves scheduled 17046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 111, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:18 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16688, writes 0 timeouts 0
2025-04-24 11:31:18 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37175
2025-04-24 11:31:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:18 [info] currentZPosition:0.137
2025-04-24 11:31:19 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:20 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:20 [debug] Diagnostics for board 50:
2025-04-24 11:31:20 [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 11:31:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:25 ago, cause: software
2025-04-24 11:31:20 [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 11:31:20 [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 11:31:20 [debug] Moves scheduled 17052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5681, max=18292
Sync err accum 115, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:20 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20587, writes 0 timeouts 0
2025-04-24 11:31:20 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36282/37174
2025-04-24 11:31:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:20 [info] currentZPosition:0.137
2025-04-24 11:31:20 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:22 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:22 [debug] Diagnostics for board 50:
2025-04-24 11:31:22 [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 11:31:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:27 ago, cause: software
2025-04-24 11:31:22 [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 11:31:22 [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 11:31:22 [debug] Moves scheduled 17058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 119, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:22 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 21011, writes 0 timeouts 0
2025-04-24 11:31:22 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37174
2025-04-24 11:31:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:22 [info] currentZPosition:0.137
2025-04-24 11:31:23 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:23 [debug] Diagnostics for board 50:
2025-04-24 11:31:23 [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 11:31:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:28 ago, cause: software
2025-04-24 11:31:23 [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 11:31:23 [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 11:31:23 [debug] Moves scheduled 17062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 115, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:23 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16357, writes 0 timeouts 0
2025-04-24 11:31:23 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37173
2025-04-24 11:31:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 808
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:23 [info] currentZPosition:0.138
2025-04-24 11:31:24 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:24 [debug] Diagnostics for board 50:
2025-04-24 11:31:24 [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 11:31:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:29 ago, cause: software
2025-04-24 11:31:24 [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 11:31:24 [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 11:31:24 [debug] Moves scheduled 17066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 108, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:24 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17887, writes 0 timeouts 0
2025-04-24 11:31:24 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 11:31:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:25 [info] currentZPosition:0.136
2025-04-24 11:31:25 [debug] Stopped at height 0.134 mm
2025-04-24 11:31:25 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:26 [debug] Stopped at height 0.134 mm
2025-04-24 11:31:27 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:27 [debug] Diagnostics for board 50:
2025-04-24 11:31:27 [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 11:31:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:32 ago, cause: software
2025-04-24 11:31:27 [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 11:31:27 [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 11:31:27 [debug] Moves scheduled 17076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 94, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:27 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 28716, writes 0 timeouts 0
2025-04-24 11:31:27 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 289, adv 36404/37177
2025-04-24 11:31:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:27 [info] currentZPosition:0.136
2025-04-24 11:31:27 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:28 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:28 [debug] Diagnostics for board 50:
2025-04-24 11:31:28 [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 11:31:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:33 ago, cause: software
2025-04-24 11:31:28 [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 11:31:28 [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 11:31:28 [debug] Moves scheduled 17082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 77, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:28 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 20662, writes 0 timeouts 0
2025-04-24 11:31:28 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37177
2025-04-24 11:31:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:28 [info] currentZPosition:0.137
2025-04-24 11:31:29 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:30 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:30 [debug] Diagnostics for board 50:
2025-04-24 11:31:30 [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 11:31:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:35 ago, cause: software
2025-04-24 11:31:30 [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 11:31:30 [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 11:31:30 [debug] Moves scheduled 17088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6302, max=17857
Sync err accum 61, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:30 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20902, writes 0 timeouts 0
2025-04-24 11:31:30 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36406/37175
2025-04-24 11:31:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:30 [info] currentZPosition:0.137
2025-04-24 11:31:32 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:32 [debug] Diagnostics for board 50:
2025-04-24 11:31:32 [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 11:31:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:36 ago, cause: software
2025-04-24 11:31:32 [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 11:31:32 [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 11:31:32 [debug] Moves scheduled 17092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 70, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:32 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17720, writes 0 timeouts 0
2025-04-24 11:31:32 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37173
2025-04-24 11:31:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:32 [info] currentZPosition:0.135
2025-04-24 11:31:32 [debug] Stopped at height 0.135 mm
2025-04-24 11:31:33 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:33 [debug] Diagnostics for board 50:
2025-04-24 11:31:33 [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 11:31:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:38 ago, cause: software
2025-04-24 11:31:33 [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 11:31:33 [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 11:31:33 [debug] Moves scheduled 17098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 86, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:33 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 19806, writes 0 timeouts 0
2025-04-24 11:31:33 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37172
2025-04-24 11:31:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:33 [info] currentZPosition:0.137
2025-04-24 11:31:33 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:35 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:35 [debug] Diagnostics for board 50:
2025-04-24 11:31:35 [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 11:31:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:40 ago, cause: software
2025-04-24 11:31:35 [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 11:31:35 [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 11:31:35 [debug] Moves scheduled 17104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:35 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 20940, writes 0 timeouts 0
2025-04-24 11:31:35 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37176
2025-04-24 11:31:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:35 [info] currentZPosition:0.138
2025-04-24 11:31:36 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:36 [debug] Diagnostics for board 50:
2025-04-24 11:31:36 [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 11:31:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:41 ago, cause: software
2025-04-24 11:31:36 [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 11:31:36 [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 11:31:36 [debug] Moves scheduled 17108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 104, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294929057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:36 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16667, writes 0 timeouts 0
2025-04-24 11:31:36 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37172
2025-04-24 11:31:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:36 [info] currentZPosition:0.138
2025-04-24 11:31:37 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:37 [debug] Diagnostics for board 50:
2025-04-24 11:31:37 [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 11:31:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:42 ago, cause: software
2025-04-24 11:31:37 [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 11:31:37 [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 11:31:37 [debug] Moves scheduled 17112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 106, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:37 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17454, writes 0 timeouts 0
2025-04-24 11:31:37 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36109/37174
2025-04-24 11:31:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:38 [info] currentZPosition:0.137
2025-04-24 11:31:39 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:39 [debug] Diagnostics for board 50:
2025-04-24 11:31:39 [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 11:31:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:44 ago, cause: software
2025-04-24 11:31:39 [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 11:31:39 [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 11:31:39 [debug] Moves scheduled 17116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=723, max=17857
Sync err accum 107, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:39 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16140, writes 11 timeouts 1
2025-04-24 11:31:39 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37176
2025-04-24 11:31:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:39 [info] currentZPosition:0.138
2025-04-24 11:31:39 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:40 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:40 [debug] Diagnostics for board 50:
2025-04-24 11:31:40 [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 11:31:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:45 ago, cause: software
2025-04-24 11:31:40 [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 11:31:40 [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 11:31:40 [debug] Moves scheduled 17122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:40 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 21260, writes 0 timeouts 0
2025-04-24 11:31:40 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37174
2025-04-24 11:31:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:41 [info] currentZPosition:0.138
2025-04-24 11:31:42 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:42 [debug] Diagnostics for board 50:
2025-04-24 11:31:42 [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 11:31:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:47 ago, cause: software
2025-04-24 11:31:42 [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 11:31:42 [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 11:31:42 [debug] Moves scheduled 17126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 96, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:42 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16497, writes 0 timeouts 0
2025-04-24 11:31:42 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37176
2025-04-24 11:31:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:42 [info] currentZPosition:0.138
2025-04-24 11:31:43 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:43 [debug] Diagnostics for board 50:
2025-04-24 11:31:43 [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 11:31:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:48 ago, cause: software
2025-04-24 11:31:43 [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 11:31:43 [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 11:31:43 [debug] Moves scheduled 17130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:31:43 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17533, writes 0 timeouts 0
2025-04-24 11:31:43 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36096/37178
2025-04-24 11:31:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:43 [info] currentZPosition:0.137
2025-04-24 11:31:45 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:45 [debug] Diagnostics for board 50:
2025-04-24 11:31:45 [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 11:31:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:49 ago, cause: software
2025-04-24 11:31:45 [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 11:31:45 [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 11:31:45 [debug] Moves scheduled 17134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=74, frequency (Hz): min=6198, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:45 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16782, writes 0 timeouts 0
2025-04-24 11:31:45 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37177
2025-04-24 11:31:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:45 [info] currentZPosition:0.136
2025-04-24 11:31:46 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:46 [debug] Diagnostics for board 50:
2025-04-24 11:31:46 [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 11:31:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:51 ago, cause: software
2025-04-24 11:31:46 [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 11:31:46 [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 11:31:46 [debug] Moves scheduled 17138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6465, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:31:46 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17403, writes 0 timeouts 0
2025-04-24 11:31:46 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37175
2025-04-24 11:31:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:46 [info] currentZPosition:0.136
2025-04-24 11:31:48 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:48 [debug] Diagnostics for board 50:
2025-04-24 11:31:48 [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 11:31:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:53 ago, cause: software
2025-04-24 11:31:48 [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 11:31:48 [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 11:31:48 [debug] Moves scheduled 17142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294750240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:48 [debug] Driver 0: pos -3487, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 27011, writes 0 timeouts 0
2025-04-24 11:31:48 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 291, adv 36396/37169
2025-04-24 11:31:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:48 [info] currentZPosition:0.137
2025-04-24 11:31:49 [debug] Stopped at height 0.136 mm
2025-04-24 11:31:50 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:50 [debug] Diagnostics for board 50:
2025-04-24 11:31:50 [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 11:31:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:55 ago, cause: software
2025-04-24 11:31:50 [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 11:31:50 [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 11:31:50 [debug] Moves scheduled 17148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 94, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:31:50 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 25726, writes 0 timeouts 0
2025-04-24 11:31:50 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 36093/37172
2025-04-24 11:31:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:50 [info] currentZPosition:0.137
2025-04-24 11:31:52 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:52 [debug] Diagnostics for board 50:
2025-04-24 11:31:52 [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 11:31:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:56 ago, cause: software
2025-04-24 11:31:52 [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 11:31:52 [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 11:31:52 [debug] Moves scheduled 17152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 100, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:52 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16684, writes 0 timeouts 0
2025-04-24 11:31:52 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37170
2025-04-24 11:31:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:52 [info] currentZPosition:0.137
2025-04-24 11:31:53 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:53 [debug] Diagnostics for board 50:
2025-04-24 11:31:53 [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 11:31:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:58 ago, cause: software
2025-04-24 11:31:53 [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 11:31:53 [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 11:31:53 [debug] Moves scheduled 17156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 107, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:53 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17016, writes 0 timeouts 0
2025-04-24 11:31:53 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37174
2025-04-24 11:31:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:53 [info] currentZPosition:0.138
2025-04-24 11:31:54 [debug] Stopped at height 0.138 mm
2025-04-24 11:31:54 [debug] Diagnostics for board 50:
2025-04-24 11:31:54 [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 11:31:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:33:59 ago, cause: software
2025-04-24 11:31:54 [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 11:31:54 [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 11:31:54 [debug] Moves scheduled 17160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 110, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:31:54 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16606, writes 0 timeouts 0
2025-04-24 11:31:54 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37176
2025-04-24 11:31:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:54 [info] currentZPosition:0.138
2025-04-24 11:31:56 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:56 [debug] Diagnostics for board 50:
2025-04-24 11:31:56 [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 11:31:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:00 ago, cause: software
2025-04-24 11:31:56 [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 11:31:56 [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 11:31:56 [debug] Moves scheduled 17164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6944, max=17045
Sync err accum 110, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:31:56 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17428, writes 0 timeouts 0
2025-04-24 11:31:56 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36095/37173
2025-04-24 11:31:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:56 [info] currentZPosition:0.137
2025-04-24 11:31:57 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:57 [debug] Diagnostics for board 50:
2025-04-24 11:31:57 [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 11:31:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:02 ago, cause: software
2025-04-24 11:31:57 [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 11:31:57 [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 11:31:57 [debug] Moves scheduled 17168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=18292
Sync err accum 108, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:31:57 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16437, writes 0 timeouts 0
2025-04-24 11:31:57 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36404/37176
2025-04-24 11:31:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:57 [info] currentZPosition:0.137
2025-04-24 11:31:58 [debug] Stopped at height 0.137 mm
2025-04-24 11:31:58 [debug] Diagnostics for board 50:
2025-04-24 11:31:58 [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 11:31:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:03 ago, cause: software
2025-04-24 11:31:58 [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 11:31:58 [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 11:31:58 [debug] Moves scheduled 17172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6355, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:31:58 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17147, writes 0 timeouts 0
2025-04-24 11:31:58 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36089/37174
2025-04-24 11:31:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:31:58 [info] currentZPosition:0.137
2025-04-24 11:32:00 [debug] Stopped at height 0.136 mm
2025-04-24 11:32:00 [debug] Diagnostics for board 50:
2025-04-24 11:32:00 [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 11:32:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:04 ago, cause: software
2025-04-24 11:32:00 [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 11:32:00 [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 11:32:00 [debug] Moves scheduled 17176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 97, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:00 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16834, writes 0 timeouts 0
2025-04-24 11:32:00 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37177
2025-04-24 11:32:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:00 [info] currentZPosition:0.136
2025-04-24 11:32:01 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:01 [debug] Diagnostics for board 50:
2025-04-24 11:32:01 [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 11:32:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:06 ago, cause: software
2025-04-24 11:32:01 [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 11:32:01 [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 11:32:01 [debug] Moves scheduled 17180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 85, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:01 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16872, writes 0 timeouts 0
2025-04-24 11:32:01 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37177
2025-04-24 11:32:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:01 [info] currentZPosition:0.137
2025-04-24 11:32:02 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:02 [debug] Diagnostics for board 50:
2025-04-24 11:32:02 [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 11:32:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:07 ago, cause: software
2025-04-24 11:32:02 [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 11:32:02 [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 11:32:02 [debug] Moves scheduled 17184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=134, frequency (Hz): min=6147, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:32:02 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16771, writes 0 timeouts 0
2025-04-24 11:32:02 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37177
2025-04-24 11:32:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:02 [info] currentZPosition:0.137
2025-04-24 11:32:04 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:04 [debug] Diagnostics for board 50:
2025-04-24 11:32:04 [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 11:32:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:09 ago, cause: software
2025-04-24 11:32:04 [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 11:32:04 [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 11:32:04 [debug] Moves scheduled 17188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6578, max=17045
Sync err accum 62, peak jitter -4/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:04 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17201, writes 0 timeouts 0
2025-04-24 11:32:04 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 11:32:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:04 [info] currentZPosition:0.137
2025-04-24 11:32:05 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:05 [debug] Diagnostics for board 50:
2025-04-24 11:32:05 [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 11:32:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:10 ago, cause: software
2025-04-24 11:32:05 [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 11:32:05 [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 11:32:05 [debug] Moves scheduled 17192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 75, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:05 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16609, writes 0 timeouts 0
2025-04-24 11:32:05 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37172
2025-04-24 11:32:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:05 [info] currentZPosition:0.137
2025-04-24 11:32:06 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:06 [debug] Diagnostics for board 50:
2025-04-24 11:32:06 [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 11:32:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:11 ago, cause: software
2025-04-24 11:32:06 [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 11:32:06 [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 11:32:06 [debug] Moves scheduled 17196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 86, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:06 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17304, writes 0 timeouts 0
2025-04-24 11:32:06 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37174
2025-04-24 11:32:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:06 [info] currentZPosition:0.137
2025-04-24 11:32:08 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:08 [debug] Diagnostics for board 50:
2025-04-24 11:32:08 [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 11:32:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:13 ago, cause: software
2025-04-24 11:32:08 [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 11:32:08 [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 11:32:08 [debug] Moves scheduled 17200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6818, max=17045
Sync err accum 96, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:08 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16459, writes 0 timeouts 0
2025-04-24 11:32:08 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36398/37173
2025-04-24 11:32:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:08 [info] currentZPosition:0.137
2025-04-24 11:32:09 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:09 [debug] Diagnostics for board 50:
2025-04-24 11:32:09 [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 11:32:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:14 ago, cause: software
2025-04-24 11:32:09 [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 11:32:09 [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 11:32:09 [debug] Moves scheduled 17204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17441
Sync err accum 108, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:09 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17209, writes 0 timeouts 0
2025-04-24 11:32:09 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37172
2025-04-24 11:32:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:09 [info] currentZPosition:0.137
2025-04-24 11:32:10 [debug] Stopped at height 0.136 mm
2025-04-24 11:32:10 [debug] Diagnostics for board 50:
2025-04-24 11:32:10 [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 11:32:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:15 ago, cause: software
2025-04-24 11:32:10 [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 11:32:10 [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 11:32:10 [debug] Moves scheduled 17208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 115, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:10 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17007, writes 0 timeouts 0
2025-04-24 11:32:10 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36399/37174
2025-04-24 11:32:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:11 [info] currentZPosition:0.136
2025-04-24 11:32:11 [debug] Stopped at height 0.136 mm
2025-04-24 11:32:12 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:12 [debug] Diagnostics for board 50:
2025-04-24 11:32:12 [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 11:32:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:17 ago, cause: software
2025-04-24 11:32:12 [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 11:32:12 [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 11:32:12 [debug] Moves scheduled 17214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=7009, max=17857
Sync err accum 118, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:12 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20752, writes 0 timeouts 0
2025-04-24 11:32:12 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36102/37175
2025-04-24 11:32:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:12 [info] currentZPosition:0.137
2025-04-24 11:32:13 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:14 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:14 [debug] Diagnostics for board 50:
2025-04-24 11:32:14 [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 11:32:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:19 ago, cause: software
2025-04-24 11:32:14 [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 11:32:14 [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 11:32:14 [debug] Moves scheduled 17220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 120, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:14 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20265, writes 0 timeouts 0
2025-04-24 11:32:14 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37176
2025-04-24 11:32:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:14 [info] currentZPosition:0.138
2025-04-24 11:32:15 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:15 [debug] Diagnostics for board 50:
2025-04-24 11:32:15 [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 11:32:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:34:20 ago, cause: software
2025-04-24 11:32:15 [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 11:32:15 [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 11:32:15 [debug] Moves scheduled 17224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 116, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:32:15 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17533, writes 0 timeouts 0
2025-04-24 11:32:15 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:32:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:15 [info] currentZPosition:0.137
2025-04-24 11:32:16 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:16 [debug] Diagnostics for board 50:
2025-04-24 11:32:16 [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 11:32:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:21 ago, cause: software
2025-04-24 11:32:16 [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 11:32:16 [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 11:32:16 [debug] Moves scheduled 17228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6048, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:32:16 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16371, writes 0 timeouts 0
2025-04-24 11:32:16 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36282/37170
2025-04-24 11:32:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:17 [info] currentZPosition:0.138
2025-04-24 11:32:18 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:18 [debug] Diagnostics for board 50:
2025-04-24 11:32:18 [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 11:32:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:23 ago, cause: software
2025-04-24 11:32:18 [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 11:32:18 [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 11:32:18 [debug] Moves scheduled 17232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 101, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:32:18 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17344, writes 0 timeouts 0
2025-04-24 11:32:18 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 11:32:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:18 [info] currentZPosition:0.137
2025-04-24 11:32:19 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:19 [debug] Diagnostics for board 50:
2025-04-24 11:32:19 [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 11:32:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:24 ago, cause: software
2025-04-24 11:32:19 [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 11:32:19 [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 11:32:19 [debug] Moves scheduled 17236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:19 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16423, writes 0 timeouts 0
2025-04-24 11:32:19 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36169/37175
2025-04-24 11:32:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:19 [info] currentZPosition:0.138
2025-04-24 11:32:21 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:21 [debug] Diagnostics for board 50:
2025-04-24 11:32:21 [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 11:32:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:25 ago, cause: software
2025-04-24 11:32:21 [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 11:32:21 [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 11:32:21 [debug] Moves scheduled 17240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 80, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:21 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17197, writes 0 timeouts 0
2025-04-24 11:32:21 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36105/37177
2025-04-24 11:32:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:21 [info] currentZPosition:0.137
2025-04-24 11:32:22 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:22 [debug] Diagnostics for board 50:
2025-04-24 11:32:22 [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 11:32:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:27 ago, cause: software
2025-04-24 11:32:22 [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 11:32:22 [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 11:32:22 [debug] Moves scheduled 17244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 66, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:22 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16724, writes 0 timeouts 0
2025-04-24 11:32:22 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36168/37176
2025-04-24 11:32:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:22 [info] currentZPosition:0.137
2025-04-24 11:32:23 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:23 [debug] Diagnostics for board 50:
2025-04-24 11:32:23 [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 11:32:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:28 ago, cause: software
2025-04-24 11:32:23 [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 11:32:23 [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 11:32:23 [debug] Moves scheduled 17248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 63, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:23 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16928, writes 0 timeouts 0
2025-04-24 11:32:23 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37177
2025-04-24 11:32:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:23 [info] currentZPosition:0.138
2025-04-24 11:32:25 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:25 [debug] Diagnostics for board 50:
2025-04-24 11:32:25 [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 11:32:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:29 ago, cause: software
2025-04-24 11:32:25 [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 11:32:25 [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 11:32:25 [debug] Moves scheduled 17252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17045
Sync err accum 77, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:25 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16617, writes 0 timeouts 0
2025-04-24 11:32:25 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36146/37170
2025-04-24 11:32:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:25 [info] currentZPosition:0.138
2025-04-24 11:32:26 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:26 [debug] Diagnostics for board 50:
2025-04-24 11:32:26 [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 11:32:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:31 ago, cause: software
2025-04-24 11:32:26 [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 11:32:26 [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 11:32:26 [debug] Moves scheduled 17256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 91, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:26 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16952, writes 0 timeouts 0
2025-04-24 11:32:26 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37173
2025-04-24 11:32:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:26 [info] currentZPosition:0.138
2025-04-24 11:32:27 [debug] Stopped at height 0.136 mm
2025-04-24 11:32:27 [debug] Diagnostics for board 50:
2025-04-24 11:32:27 [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 11:32:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:32 ago, cause: software
2025-04-24 11:32:27 [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 11:32:27 [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 11:32:27 [debug] Moves scheduled 17260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 107, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:27 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17286, writes 0 timeouts 0
2025-04-24 11:32:27 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36160/37172
2025-04-24 11:32:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:27 [info] currentZPosition:0.136
2025-04-24 11:32:28 [debug] Stopped at height 0.136 mm
2025-04-24 11:32:29 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:29 [debug] Diagnostics for board 50:
2025-04-24 11:32:29 [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 11:32:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:34:34 ago, cause: software
2025-04-24 11:32:29 [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 11:32:29 [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 11:32:29 [debug] Moves scheduled 17266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 117, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:29 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 20606, writes 0 timeouts 0
2025-04-24 11:32:29 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36099/37174
2025-04-24 11:32:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:29 [info] currentZPosition:0.138
2025-04-24 11:32:29 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:31 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:31 [debug] Diagnostics for board 50:
2025-04-24 11:32:31 [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 11:32:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:35 ago, cause: software
2025-04-24 11:32:31 [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 11:32:31 [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 11:32:31 [debug] Moves scheduled 17272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 124, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:31 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20467, writes 0 timeouts 0
2025-04-24 11:32:31 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 289, adv 36164/37174
2025-04-24 11:32:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:31 [info] currentZPosition:0.138
2025-04-24 11:32:32 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:32 [debug] Diagnostics for board 50:
2025-04-24 11:32:32 [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 11:32:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:37 ago, cause: software
2025-04-24 11:32:32 [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 11:32:32 [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 11:32:32 [debug] Moves scheduled 17276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 123, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:32:32 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17346, writes 0 timeouts 0
2025-04-24 11:32:32 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37169
2025-04-24 11:32:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:32 [info] currentZPosition:0.137
2025-04-24 11:32:33 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:33 [debug] Diagnostics for board 50:
2025-04-24 11:32:33 [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 11:32:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:38 ago, cause: software
2025-04-24 11:32:33 [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 11:32:33 [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 11:32:33 [debug] Moves scheduled 17280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 115, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:32:33 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16355, writes 0 timeouts 0
2025-04-24 11:32:33 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36167/37175
2025-04-24 11:32:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:33 [info] currentZPosition:0.138
2025-04-24 11:32:35 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:35 [debug] Diagnostics for board 50:
2025-04-24 11:32:35 [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 11:32:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:39 ago, cause: software
2025-04-24 11:32:35 [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 11:32:35 [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 11:32:35 [debug] Moves scheduled 17284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 101, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:32:35 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17180, writes 0 timeouts 0
2025-04-24 11:32:35 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35970/37178
2025-04-24 11:32:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:35 [info] currentZPosition:0.138
2025-04-24 11:32:36 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:36 [debug] Diagnostics for board 50:
2025-04-24 11:32:36 [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 11:32:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:41 ago, cause: software
2025-04-24 11:32:36 [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 11:32:36 [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 11:32:36 [debug] Moves scheduled 17288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 84, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:36 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16759, writes 0 timeouts 0
2025-04-24 11:32:36 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37175
2025-04-24 11:32:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:36 [info] currentZPosition:0.137
2025-04-24 11:32:37 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:37 [debug] Diagnostics for board 50:
2025-04-24 11:32:37 [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 11:32:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:42 ago, cause: software
2025-04-24 11:32:37 [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 11:32:37 [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 11:32:37 [debug] Moves scheduled 17292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -4/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:32:37 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17007, writes 0 timeouts 0
2025-04-24 11:32:37 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37178
2025-04-24 11:32:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:37 [info] currentZPosition:0.138
2025-04-24 11:32:39 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:39 [debug] Diagnostics for board 50:
2025-04-24 11:32:39 [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 11:32:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:44 ago, cause: software
2025-04-24 11:32:39 [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 11:32:39 [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 11:32:39 [debug] Moves scheduled 17296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 67, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:39 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16803, writes 0 timeouts 0
2025-04-24 11:32:39 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37174
2025-04-24 11:32:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:39 [info] currentZPosition:0.138
2025-04-24 11:32:40 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:40 [debug] Diagnostics for board 50:
2025-04-24 11:32:40 [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 11:32:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:45 ago, cause: software
2025-04-24 11:32:40 [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 11:32:40 [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 11:32:40 [debug] Moves scheduled 17300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=18292
Sync err accum 69, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:40 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 17102, writes 0 timeouts 0
2025-04-24 11:32:40 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37175
2025-04-24 11:32:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:40 [info] currentZPosition:0.138
2025-04-24 11:32:41 [debug] Stopped at height 0.139 mm
2025-04-24 11:32:41 [debug] Diagnostics for board 50:
2025-04-24 11:32:41 [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 11:32:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:46 ago, cause: software
2025-04-24 11:32:41 [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 11:32:41 [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 11:32:41 [debug] Moves scheduled 17304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:41 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16351, writes 0 timeouts 0
2025-04-24 11:32:41 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37171
2025-04-24 11:32:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:41 [info] currentZPosition:0.139
2025-04-24 11:32:43 [debug] Stopped at height 0.139 mm
2025-04-24 11:32:43 [debug] Diagnostics for board 50:
2025-04-24 11:32:43 [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 11:32:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:48 ago, cause: software
2025-04-24 11:32:43 [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 11:32:43 [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 11:32:43 [debug] Moves scheduled 17308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 69, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:43 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17157, writes 0 timeouts 0
2025-04-24 11:32:43 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36102/37176
2025-04-24 11:32:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:43 [info] currentZPosition:0.139
2025-04-24 11:32:44 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:44 [debug] Diagnostics for board 50:
2025-04-24 11:32:44 [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 11:32:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:49 ago, cause: software
2025-04-24 11:32:44 [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 11:32:44 [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 11:32:44 [debug] Moves scheduled 17312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6302, max=17441
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:44 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17002, writes 0 timeouts 0
2025-04-24 11:32:44 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36166/37175
2025-04-24 11:32:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:44 [info] currentZPosition:0.137
2025-04-24 11:32:45 [debug] Stopped at height 0.136 mm
2025-04-24 11:32:46 [debug] Stopped at height 0.139 mm
2025-04-24 11:32:46 [debug] Diagnostics for board 50:
2025-04-24 11:32:46 [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 11:32:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:51 ago, cause: software
2025-04-24 11:32:46 [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 11:32:46 [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 11:32:46 [debug] Moves scheduled 17318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=568, max=17045
Sync err accum 71, peak jitter -2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:46 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20841, writes 11 timeouts 1
2025-04-24 11:32:46 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37178
2025-04-24 11:32:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:46 [info] currentZPosition:0.139
2025-04-24 11:32:46 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:47 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:47 [debug] Diagnostics for board 50:
2025-04-24 11:32:47 [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 11:32:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:52 ago, cause: software
2025-04-24 11:32:47 [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 11:32:47 [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 11:32:47 [debug] Moves scheduled 17324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294931381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:47 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 20624, writes 0 timeouts 0
2025-04-24 11:32:47 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36161/37172
2025-04-24 11:32:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:48 [info] currentZPosition:0.138
2025-04-24 11:32:49 [debug] Stopped at height 0.139 mm
2025-04-24 11:32:49 [debug] Diagnostics for board 50:
2025-04-24 11:32:49 [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 11:32:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:54 ago, cause: software
2025-04-24 11:32:49 [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 11:32:49 [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 11:32:49 [debug] Moves scheduled 17328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 90, peak jitter 1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:49 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17029, writes 0 timeouts 0
2025-04-24 11:32:49 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37172
2025-04-24 11:32:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:49 [info] currentZPosition:0.139
2025-04-24 11:32:50 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:50 [debug] Diagnostics for board 50:
2025-04-24 11:32:50 [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 11:32:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:55 ago, cause: software
2025-04-24 11:32:50 [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 11:32:50 [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 11:32:50 [debug] Moves scheduled 17332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 94, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:32:50 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16858, writes 0 timeouts 0
2025-04-24 11:32:50 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37172
2025-04-24 11:32:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:50 [info] currentZPosition:0.138
2025-04-24 11:32:52 [debug] Stopped at height 0.139 mm
2025-04-24 11:32:52 [debug] Diagnostics for board 50:
2025-04-24 11:32:52 [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 11:32:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:56 ago, cause: software
2025-04-24 11:32:52 [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 11:32:52 [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 11:32:52 [debug] Moves scheduled 17336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 95, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:52 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16834, writes 0 timeouts 0
2025-04-24 11:32:52 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37173
2025-04-24 11:32:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:52 [info] currentZPosition:0.139
2025-04-24 11:32:53 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:53 [debug] Diagnostics for board 50:
2025-04-24 11:32:53 [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 11:32:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:58 ago, cause: software
2025-04-24 11:32:53 [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 11:32:53 [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 11:32:53 [debug] Moves scheduled 17340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=18292
Sync err accum 92, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:53 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16939, writes 0 timeouts 0
2025-04-24 11:32:53 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37175
2025-04-24 11:32:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:53 [info] currentZPosition:0.138
2025-04-24 11:32:54 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:54 [debug] Diagnostics for board 50:
2025-04-24 11:32:54 [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 11:32:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:34:59 ago, cause: software
2025-04-24 11:32:54 [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 11:32:54 [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 11:32:54 [debug] Moves scheduled 17344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=10, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:54 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17378, writes 0 timeouts 0
2025-04-24 11:32:54 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37176
2025-04-24 11:32:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:54 [info] currentZPosition:0.138
2025-04-24 11:32:56 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:56 [debug] Diagnostics for board 50:
2025-04-24 11:32:56 [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 11:32:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:00 ago, cause: software
2025-04-24 11:32:56 [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 11:32:56 [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 11:32:56 [debug] Moves scheduled 17348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:56 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16663, writes 0 timeouts 0
2025-04-24 11:32:56 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37177
2025-04-24 11:32:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:56 [info] currentZPosition:0.137
2025-04-24 11:32:57 [debug] Stopped at height 0.139 mm
2025-04-24 11:32:57 [debug] Diagnostics for board 50:
2025-04-24 11:32:57 [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 11:32:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:02 ago, cause: software
2025-04-24 11:32:57 [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 11:32:57 [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 11:32:57 [debug] Moves scheduled 17352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:32:57 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16690, writes 0 timeouts 0
2025-04-24 11:32:57 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37176
2025-04-24 11:32:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:57 [info] currentZPosition:0.139
2025-04-24 11:32:57 [debug] Stopped at height 0.137 mm
2025-04-24 11:32:59 [debug] Stopped at height 0.138 mm
2025-04-24 11:32:59 [debug] Diagnostics for board 50:
2025-04-24 11:32:59 [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 11:32:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:03 ago, cause: software
2025-04-24 11:32:59 [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 11:32:59 [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 11:32:59 [debug] Moves scheduled 17358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=509, max=17441
Sync err accum 62, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:32:59 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20567, writes 11 timeouts 1
2025-04-24 11:32:59 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36167/37176
2025-04-24 11:32:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:32:59 [info] currentZPosition:0.138
2025-04-24 11:33:00 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:00 [debug] Diagnostics for board 50:
2025-04-24 11:33:00 [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 11:33:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:05 ago, cause: software
2025-04-24 11:33:00 [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 11:33:00 [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 11:33:00 [debug] Moves scheduled 17362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:00 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16971, writes 0 timeouts 0
2025-04-24 11:33:00 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37173
2025-04-24 11:33:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:00 [info] currentZPosition:0.139
2025-04-24 11:33:01 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:01 [debug] Diagnostics for board 50:
2025-04-24 11:33:01 [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 11:33:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:06 ago, cause: software
2025-04-24 11:33:01 [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 11:33:01 [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 11:33:01 [debug] Moves scheduled 17366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 80, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:01 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16774, writes 0 timeouts 0
2025-04-24 11:33:01 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37173
2025-04-24 11:33:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:01 [info] currentZPosition:0.138
2025-04-24 11:33:03 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:03 [debug] Diagnostics for board 50:
2025-04-24 11:33:03 [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 11:33:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:07 ago, cause: software
2025-04-24 11:33:03 [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 11:33:03 [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 11:33:03 [debug] Moves scheduled 17370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 86, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:03 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17095, writes 0 timeouts 0
2025-04-24 11:33:03 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37172
2025-04-24 11:33:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:03 [info] currentZPosition:0.138
2025-04-24 11:33:04 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:04 [debug] Diagnostics for board 50:
2025-04-24 11:33:04 [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 11:33:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:09 ago, cause: software
2025-04-24 11:33:04 [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 11:33:04 [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 11:33:04 [debug] Moves scheduled 17374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5952, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:04 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16488, writes 0 timeouts 0
2025-04-24 11:33:04 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36166/37172
2025-04-24 11:33:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:04 [info] currentZPosition:0.139
2025-04-24 11:33:05 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:05 [debug] Diagnostics for board 50:
2025-04-24 11:33:05 [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 11:33:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:10 ago, cause: software
2025-04-24 11:33:05 [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 11:33:05 [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 11:33:05 [debug] Moves scheduled 17378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:05 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 17178, writes 0 timeouts 0
2025-04-24 11:33:05 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37173
2025-04-24 11:33:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:05 [info] currentZPosition:0.139
2025-04-24 11:33:07 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:07 [debug] Diagnostics for board 50:
2025-04-24 11:33:07 [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 11:33:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:11 ago, cause: software
2025-04-24 11:33:07 [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 11:33:07 [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 11:33:07 [debug] Moves scheduled 17382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:07 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16548, writes 0 timeouts 0
2025-04-24 11:33:07 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37174
2025-04-24 11:33:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:07 [info] currentZPosition:0.139
2025-04-24 11:33:08 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:08 [debug] Diagnostics for board 50:
2025-04-24 11:33:08 [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 11:33:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:13 ago, cause: software
2025-04-24 11:33:08 [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 11:33:08 [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 11:33:08 [debug] Moves scheduled 17386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:08 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17252, writes 0 timeouts 0
2025-04-24 11:33:08 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37176
2025-04-24 11:33:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:08 [info] currentZPosition:0.139
2025-04-24 11:33:09 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:09 [debug] Diagnostics for board 50:
2025-04-24 11:33:09 [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 11:33:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:14 ago, cause: software
2025-04-24 11:33:09 [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 11:33:09 [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 11:33:09 [debug] Moves scheduled 17390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:09 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16974, writes 0 timeouts 0
2025-04-24 11:33:09 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37173
2025-04-24 11:33:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:09 [info] currentZPosition:0.138
2025-04-24 11:33:11 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:11 [debug] Diagnostics for board 50:
2025-04-24 11:33:11 [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 11:33:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:16 ago, cause: software
2025-04-24 11:33:11 [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 11:33:11 [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 11:33:11 [debug] Moves scheduled 17394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:11 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17336, writes 0 timeouts 0
2025-04-24 11:33:11 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37177
2025-04-24 11:33:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:11 [info] currentZPosition:0.137
2025-04-24 11:33:12 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:12 [debug] Diagnostics for board 50:
2025-04-24 11:33:12 [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 11:33:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:17 ago, cause: software
2025-04-24 11:33:12 [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 11:33:12 [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 11:33:12 [debug] Moves scheduled 17398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17857
Sync err accum 69, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:12 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16209, writes 0 timeouts 0
2025-04-24 11:33:12 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37176
2025-04-24 11:33:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:12 [info] currentZPosition:0.138
2025-04-24 11:33:12 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:14 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:14 [debug] Diagnostics for board 50:
2025-04-24 11:33:14 [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 11:33:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:19 ago, cause: software
2025-04-24 11:33:14 [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 11:33:14 [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 11:33:14 [debug] Moves scheduled 17404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 62, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:14 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 21192, writes 0 timeouts 0
2025-04-24 11:33:14 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37175
2025-04-24 11:33:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:14 [info] currentZPosition:0.138
2025-04-24 11:33:15 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:15 [debug] Diagnostics for board 50:
2025-04-24 11:33:15 [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 11:33:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:20 ago, cause: software
2025-04-24 11:33:15 [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 11:33:15 [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 11:33:15 [debug] Moves scheduled 17408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17857
Sync err accum 73, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:15 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16810, writes 0 timeouts 0
2025-04-24 11:33:15 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37172
2025-04-24 11:33:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:15 [info] currentZPosition:0.137
2025-04-24 11:33:16 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:16 [debug] Diagnostics for board 50:
2025-04-24 11:33:16 [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 11:33:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:21 ago, cause: software
2025-04-24 11:33:16 [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 11:33:16 [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 11:33:16 [debug] Moves scheduled 17412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:16 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17031, writes 0 timeouts 0
2025-04-24 11:33:16 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37170
2025-04-24 11:33:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:17 [info] currentZPosition:0.138
2025-04-24 11:33:18 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:18 [debug] Diagnostics for board 50:
2025-04-24 11:33:18 [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 11:33:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:23 ago, cause: software
2025-04-24 11:33:18 [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 11:33:18 [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 11:33:18 [debug] Moves scheduled 17416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=80, frequency (Hz): min=6302, max=17045
Sync err accum 88, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:18 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16505, writes 0 timeouts 0
2025-04-24 11:33:18 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37170
2025-04-24 11:33:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:18 [info] currentZPosition:0.139
2025-04-24 11:33:19 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:19 [debug] Diagnostics for board 50:
2025-04-24 11:33:19 [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 11:33:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:24 ago, cause: software
2025-04-24 11:33:19 [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 11:33:19 [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 11:33:19 [debug] Moves scheduled 17420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:19 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17350, writes 0 timeouts 0
2025-04-24 11:33:19 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36094/37173
2025-04-24 11:33:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:19 [info] currentZPosition:0.138
2025-04-24 11:33:21 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:21 [debug] Diagnostics for board 50:
2025-04-24 11:33:21 [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 11:33:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:25 ago, cause: software
2025-04-24 11:33:21 [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 11:33:21 [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 11:33:21 [debug] Moves scheduled 17424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:21 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16319, writes 0 timeouts 0
2025-04-24 11:33:21 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37175
2025-04-24 11:33:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:21 [info] currentZPosition:0.139
2025-04-24 11:33:22 [debug] Stopped at height 0.140 mm
2025-04-24 11:33:22 [debug] Diagnostics for board 50:
2025-04-24 11:33:22 [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 11:33:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:27 ago, cause: software
2025-04-24 11:33:22 [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 11:33:22 [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 11:33:22 [debug] Moves scheduled 17428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 89, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:22 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16674, writes 0 timeouts 0
2025-04-24 11:33:22 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36096/37172
2025-04-24 11:33:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 807
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:22 [info] currentZPosition:0.140
2025-04-24 11:33:22 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:24 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:24 [debug] Diagnostics for board 50:
2025-04-24 11:33:24 [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 11:33:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:28 ago, cause: software
2025-04-24 11:33:24 [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 11:33:24 [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 11:33:24 [debug] Moves scheduled 17434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6355, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:24 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 21460, writes 0 timeouts 0
2025-04-24 11:33:24 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36400/37170
2025-04-24 11:33:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:24 [info] currentZPosition:0.137
2025-04-24 11:33:25 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:25 [debug] Diagnostics for board 50:
2025-04-24 11:33:25 [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 11:33:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:30 ago, cause: software
2025-04-24 11:33:25 [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 11:33:25 [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 11:33:25 [debug] Moves scheduled 17438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 76, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:33:25 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16693, writes 0 timeouts 0
2025-04-24 11:33:25 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36091/37177
2025-04-24 11:33:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:25 [info] currentZPosition:0.139
2025-04-24 11:33:25 [debug] Stopped at height 0.141 mm
2025-04-24 11:33:26 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:27 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:27 [debug] Diagnostics for board 50:
2025-04-24 11:33:27 [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 11:33:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:32 ago, cause: software
2025-04-24 11:33:27 [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 11:33:27 [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 11:33:27 [debug] Moves scheduled 17446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 61, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:27 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 24577, writes 0 timeouts 0
2025-04-24 11:33:27 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36401/37177
2025-04-24 11:33:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:27 [info] currentZPosition:0.139
2025-04-24 11:33:27 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:29 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:29 [debug] Diagnostics for board 50:
2025-04-24 11:33:29 [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 11:33:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:33 ago, cause: software
2025-04-24 11:33:29 [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 11:33:29 [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 11:33:29 [debug] Moves scheduled 17452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 74, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:29 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20874, writes 0 timeouts 0
2025-04-24 11:33:29 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36103/37169
2025-04-24 11:33:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:29 [info] currentZPosition:0.139
2025-04-24 11:33:29 [debug] Stopped at height 0.142 mm
2025-04-24 11:33:29 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:31 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:31 [debug] Diagnostics for board 50:
2025-04-24 11:33:31 [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 11:33:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:35 ago, cause: software
2025-04-24 11:33:31 [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 11:33:31 [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 11:33:31 [debug] Moves scheduled 17460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:31 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 25175, writes 0 timeouts 0
2025-04-24 11:33:31 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 294, adv 36398/37175
2025-04-24 11:33:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:31 [info] currentZPosition:0.137
2025-04-24 11:33:32 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:32 [debug] Diagnostics for board 50:
2025-04-24 11:33:32 [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 11:33:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:37 ago, cause: software
2025-04-24 11:33:32 [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 11:33:32 [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 11:33:32 [debug] Moves scheduled 17464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:32 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16625, writes 0 timeouts 0
2025-04-24 11:33:32 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37173
2025-04-24 11:33:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:32 [info] currentZPosition:0.139
2025-04-24 11:33:32 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:34 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:34 [debug] Diagnostics for board 50:
2025-04-24 11:33:34 [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 11:33:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:38 ago, cause: software
2025-04-24 11:33:34 [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 11:33:34 [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 11:33:34 [debug] Moves scheduled 17470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:34 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20550, writes 0 timeouts 0
2025-04-24 11:33:34 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36379/37175
2025-04-24 11:33:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:34 [info] currentZPosition:0.139
2025-04-24 11:33:34 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:35 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:35 [debug] Diagnostics for board 50:
2025-04-24 11:33:35 [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 11:33:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:40 ago, cause: software
2025-04-24 11:33:35 [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 11:33:35 [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 11:33:35 [debug] Moves scheduled 17476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:35 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21240, writes 0 timeouts 0
2025-04-24 11:33:35 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37174
2025-04-24 11:33:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:35 [info] currentZPosition:0.139
2025-04-24 11:33:37 [debug] Stopped at height 0.140 mm
2025-04-24 11:33:37 [debug] Diagnostics for board 50:
2025-04-24 11:33:37 [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 11:33:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:41 ago, cause: software
2025-04-24 11:33:37 [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 11:33:37 [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 11:33:37 [debug] Moves scheduled 17480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:37 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16239, writes 0 timeouts 0
2025-04-24 11:33:37 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37174
2025-04-24 11:33:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:37 [info] currentZPosition:0.140
2025-04-24 11:33:38 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:38 [debug] Diagnostics for board 50:
2025-04-24 11:33:38 [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 11:33:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:43 ago, cause: software
2025-04-24 11:33:38 [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 11:33:38 [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 11:33:38 [debug] Moves scheduled 17484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:38 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17512, writes 0 timeouts 0
2025-04-24 11:33:38 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37178
2025-04-24 11:33:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:38 [info] currentZPosition:0.139
2025-04-24 11:33:39 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:39 [debug] Diagnostics for board 50:
2025-04-24 11:33:39 [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 11:33:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:44 ago, cause: software
2025-04-24 11:33:39 [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 11:33:39 [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 11:33:39 [debug] Moves scheduled 17488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6696, max=17857
Sync err accum 63, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:39 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16620, writes 0 timeouts 0
2025-04-24 11:33:39 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36397/37177
2025-04-24 11:33:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:39 [info] currentZPosition:0.139
2025-04-24 11:33:41 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:41 [debug] Diagnostics for board 50:
2025-04-24 11:33:41 [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 11:33:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:45 ago, cause: software
2025-04-24 11:33:41 [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 11:33:41 [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 11:33:41 [debug] Moves scheduled 17492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=520, max=17857
Sync err accum 68, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:33:41 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16984, writes 11 timeouts 1
2025-04-24 11:33:41 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36005/37173
2025-04-24 11:33:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:41 [info] currentZPosition:0.139
2025-04-24 11:33:42 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:42 [debug] Diagnostics for board 50:
2025-04-24 11:33:42 [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 11:33:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:47 ago, cause: software
2025-04-24 11:33:42 [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 11:33:42 [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 11:33:42 [debug] Moves scheduled 17496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:42 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16586, writes 0 timeouts 0
2025-04-24 11:33:42 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37176
2025-04-24 11:33:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:42 [info] currentZPosition:0.139
2025-04-24 11:33:43 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:43 [debug] Diagnostics for board 50:
2025-04-24 11:33:43 [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 11:33:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:48 ago, cause: software
2025-04-24 11:33:43 [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 11:33:43 [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 11:33:43 [debug] Moves scheduled 17500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:43 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17265, writes 0 timeouts 0
2025-04-24 11:33:43 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37175
2025-04-24 11:33:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:43 [info] currentZPosition:0.139
2025-04-24 11:33:45 [debug] Stopped at height 0.140 mm
2025-04-24 11:33:45 [debug] Diagnostics for board 50:
2025-04-24 11:33:45 [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 11:33:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:49 ago, cause: software
2025-04-24 11:33:45 [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 11:33:45 [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 11:33:45 [debug] Moves scheduled 17504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=6097, max=18292
Sync err accum 72, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:45 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16477, writes 0 timeouts 0
2025-04-24 11:33:45 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37174
2025-04-24 11:33:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:45 [info] currentZPosition:0.140
2025-04-24 11:33:46 [debug] Stopped at height 0.140 mm
2025-04-24 11:33:46 [debug] Diagnostics for board 50:
2025-04-24 11:33:46 [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 11:33:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:51 ago, cause: software
2025-04-24 11:33:46 [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 11:33:46 [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 11:33:46 [debug] Moves scheduled 17508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:46 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17148, writes 0 timeouts 0
2025-04-24 11:33:46 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37173
2025-04-24 11:33:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:46 [info] currentZPosition:0.140
2025-04-24 11:33:47 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:47 [debug] Diagnostics for board 50:
2025-04-24 11:33:47 [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 11:33:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:52 ago, cause: software
2025-04-24 11:33:47 [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 11:33:47 [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 11:33:47 [debug] Moves scheduled 17512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17045
Sync err accum 62, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:47 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16707, writes 0 timeouts 0
2025-04-24 11:33:47 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36372/37176
2025-04-24 11:33:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:47 [info] currentZPosition:0.139
2025-04-24 11:33:49 [debug] Stopped at height 0.140 mm
2025-04-24 11:33:49 [debug] Diagnostics for board 50:
2025-04-24 11:33:49 [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 11:33:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:54 ago, cause: software
2025-04-24 11:33:49 [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 11:33:49 [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 11:33:49 [debug] Moves scheduled 17516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:49 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17055, writes 0 timeouts 0
2025-04-24 11:33:49 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37175
2025-04-24 11:33:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:49 [info] currentZPosition:0.140
2025-04-24 11:33:50 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:50 [debug] Diagnostics for board 50:
2025-04-24 11:33:50 [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 11:33:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:55 ago, cause: software
2025-04-24 11:33:50 [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 11:33:50 [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 11:33:50 [debug] Moves scheduled 17520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=9, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:50 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16707, writes 0 timeouts 0
2025-04-24 11:33:50 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36398/37171
2025-04-24 11:33:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:50 [info] currentZPosition:0.139
2025-04-24 11:33:51 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:51 [debug] Diagnostics for board 50:
2025-04-24 11:33:51 [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 11:33:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:56 ago, cause: software
2025-04-24 11:33:51 [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 11:33:51 [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 11:33:51 [debug] Moves scheduled 17524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6637, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:51 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17305, writes 0 timeouts 0
2025-04-24 11:33:51 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37174
2025-04-24 11:33:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:52 [info] currentZPosition:0.139
2025-04-24 11:33:53 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:53 [debug] Diagnostics for board 50:
2025-04-24 11:33:53 [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 11:33:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:58 ago, cause: software
2025-04-24 11:33:53 [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 11:33:53 [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 11:33:53 [debug] Moves scheduled 17528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:33:53 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16488, writes 0 timeouts 0
2025-04-24 11:33:53 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36382/37175
2025-04-24 11:33:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:53 [info] currentZPosition:0.139
2025-04-24 11:33:54 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:54 [debug] Diagnostics for board 50:
2025-04-24 11:33:54 [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 11:33:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:35:59 ago, cause: software
2025-04-24 11:33:54 [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 11:33:54 [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 11:33:54 [debug] Moves scheduled 17532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:54 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17112, writes 0 timeouts 0
2025-04-24 11:33:54 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37173
2025-04-24 11:33:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:54 [info] currentZPosition:0.139
2025-04-24 11:33:55 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:55 [debug] Diagnostics for board 50:
2025-04-24 11:33:55 [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 11:33:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:00 ago, cause: software
2025-04-24 11:33:55 [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 11:33:55 [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 11:33:55 [debug] Moves scheduled 17536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 88, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:33:55 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16987, writes 0 timeouts 0
2025-04-24 11:33:55 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36396/37174
2025-04-24 11:33:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:56 [info] currentZPosition:0.138
2025-04-24 11:33:56 [debug] Stopped at height 0.137 mm
2025-04-24 11:33:57 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:57 [debug] Diagnostics for board 50:
2025-04-24 11:33:57 [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 11:33:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:02 ago, cause: software
2025-04-24 11:33:57 [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 11:33:57 [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 11:33:57 [debug] Moves scheduled 17542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 81, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:57 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20727, writes 0 timeouts 0
2025-04-24 11:33:57 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37175
2025-04-24 11:33:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:57 [info] currentZPosition:0.139
2025-04-24 11:33:58 [debug] Stopped at height 0.139 mm
2025-04-24 11:33:59 [debug] Stopped at height 0.138 mm
2025-04-24 11:33:59 [debug] Diagnostics for board 50:
2025-04-24 11:33:59 [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 11:33:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:36:04 ago, cause: software
2025-04-24 11:33:59 [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 11:33:59 [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 11:33:59 [debug] Moves scheduled 17548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932410 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:33:59 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 20773, writes 0 timeouts 0
2025-04-24 11:33:59 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36404/37176
2025-04-24 11:33:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:33:59 [info] currentZPosition:0.138
2025-04-24 11:34:00 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:00 [debug] Diagnostics for board 50:
2025-04-24 11:34:00 [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 11:34:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:05 ago, cause: software
2025-04-24 11:34:00 [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 11:34:00 [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 11:34:00 [debug] Moves scheduled 17552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6048, max=17045
Sync err accum 63, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:00 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16509, writes 0 timeouts 0
2025-04-24 11:34:00 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37178
2025-04-24 11:34:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8902, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:00 [info] currentZPosition:0.140
2025-04-24 11:34:01 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:02 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:02 [debug] Diagnostics for board 50:
2025-04-24 11:34:02 [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 11:34:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:36:07 ago, cause: software
2025-04-24 11:34:02 [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 11:34:02 [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 11:34:02 [debug] Moves scheduled 17558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935145 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:02 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20994, writes 0 timeouts 0
2025-04-24 11:34:02 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36398/37173
2025-04-24 11:34:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:02 [info] currentZPosition:0.139
2025-04-24 11:34:03 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:03 [debug] Diagnostics for board 50:
2025-04-24 11:34:03 [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 11:34:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:08 ago, cause: software
2025-04-24 11:34:03 [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 11:34:03 [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 11:34:03 [debug] Moves scheduled 17562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:34:03 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16981, writes 0 timeouts 0
2025-04-24 11:34:03 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37170
2025-04-24 11:34:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:03 [info] currentZPosition:0.140
2025-04-24 11:34:05 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:05 [debug] Diagnostics for board 50:
2025-04-24 11:34:05 [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 11:34:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:09 ago, cause: software
2025-04-24 11:34:05 [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 11:34:05 [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 11:34:05 [debug] Moves scheduled 17566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6198, max=17045
Sync err accum 71, peak jitter 0/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:05 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16743, writes 0 timeouts 0
2025-04-24 11:34:05 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36280/37169
2025-04-24 11:34:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:05 [info] currentZPosition:0.139
2025-04-24 11:34:06 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:06 [debug] Diagnostics for board 50:
2025-04-24 11:34:06 [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 11:34:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:11 ago, cause: software
2025-04-24 11:34:06 [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 11:34:06 [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 11:34:06 [debug] Moves scheduled 17570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6097, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:06 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17268, writes 0 timeouts 0
2025-04-24 11:34:06 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 11:34:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:06 [info] currentZPosition:0.139
2025-04-24 11:34:07 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:07 [debug] Diagnostics for board 50:
2025-04-24 11:34:07 [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 11:34:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:12 ago, cause: software
2025-04-24 11:34:07 [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 11:34:07 [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 11:34:07 [debug] Moves scheduled 17574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=18292
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:07 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16603, writes 0 timeouts 0
2025-04-24 11:34:07 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37173
2025-04-24 11:34:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:07 [info] currentZPosition:0.139
2025-04-24 11:34:09 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:09 [debug] Diagnostics for board 50:
2025-04-24 11:34:09 [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 11:34:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:13 ago, cause: software
2025-04-24 11:34:09 [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 11:34:09 [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 11:34:09 [debug] Moves scheduled 17578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
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 4294932673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:34:09 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17260, writes 0 timeouts 0
2025-04-24 11:34:09 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36109/37174
2025-04-24 11:34:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:09 [info] currentZPosition:0.139
2025-04-24 11:34:10 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:10 [debug] Diagnostics for board 50:
2025-04-24 11:34:10 [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 11:34:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:15 ago, cause: software
2025-04-24 11:34:10 [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 11:34:10 [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 11:34:10 [debug] Moves scheduled 17582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:34:10 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16169, writes 0 timeouts 0
2025-04-24 11:34:10 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36147/37175
2025-04-24 11:34:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:10 [info] currentZPosition:0.140
2025-04-24 11:34:10 [debug] Stopped at height 0.138 mm
2025-04-24 11:34:12 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:12 [debug] Diagnostics for board 50:
2025-04-24 11:34:12 [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 11:34:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:16 ago, cause: software
2025-04-24 11:34:12 [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 11:34:12 [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 11:34:12 [debug] Moves scheduled 17588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 69, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:12 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20936, writes 0 timeouts 0
2025-04-24 11:34:12 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36102/37175
2025-04-24 11:34:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:12 [info] currentZPosition:0.140
2025-04-24 11:34:12 [debug] Stopped at height 0.138 mm
2025-04-24 11:34:13 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:13 [debug] Diagnostics for board 50:
2025-04-24 11:34:13 [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 11:34:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:18 ago, cause: software
2025-04-24 11:34:13 [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 11:34:13 [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 11:34:13 [debug] Moves scheduled 17594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:13 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 20633, writes 0 timeouts 0
2025-04-24 11:34:13 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36159/37177
2025-04-24 11:34:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:13 [info] currentZPosition:0.140
2025-04-24 11:34:14 [debug] Stopped at height 0.142 mm
2025-04-24 11:34:14 [debug] Stopped at height 0.138 mm
2025-04-24 11:34:15 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:15 [debug] Diagnostics for board 50:
2025-04-24 11:34:15 [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 11:34:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:20 ago, cause: software
2025-04-24 11:34:15 [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 11:34:15 [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 11:34:15 [debug] Moves scheduled 17602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5208, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:15 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 24867, writes 0 timeouts 0
2025-04-24 11:34:15 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 289, adv 36107/37173
2025-04-24 11:34:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:15 [info] currentZPosition:0.141
2025-04-24 11:34:16 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:17 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:17 [debug] Diagnostics for board 50:
2025-04-24 11:34:17 [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 11:34:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:22 ago, cause: software
2025-04-24 11:34:17 [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 11:34:17 [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 11:34:17 [debug] Moves scheduled 17608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=18292
Sync err accum 88, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:34:17 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 21023, writes 0 timeouts 0
2025-04-24 11:34:17 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36141/37175
2025-04-24 11:34:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:17 [info] currentZPosition:0.140
2025-04-24 11:34:18 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:18 [debug] Diagnostics for board 50:
2025-04-24 11:34:18 [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 11:34:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:23 ago, cause: software
2025-04-24 11:34:18 [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 11:34:18 [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 11:34:18 [debug] Moves scheduled 17612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17441
Sync err accum 93, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:34:18 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17335, writes 0 timeouts 0
2025-04-24 11:34:18 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37172
2025-04-24 11:34:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:18 [info] currentZPosition:0.140
2025-04-24 11:34:20 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:20 [debug] Diagnostics for board 50:
2025-04-24 11:34:20 [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 11:34:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:24 ago, cause: software
2025-04-24 11:34:20 [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 11:34:20 [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 11:34:20 [debug] Moves scheduled 17616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:20 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16327, writes 0 timeouts 0
2025-04-24 11:34:20 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37172
2025-04-24 11:34:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:20 [info] currentZPosition:0.140
2025-04-24 11:34:21 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:21 [debug] Diagnostics for board 50:
2025-04-24 11:34:21 [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 11:34:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:26 ago, cause: software
2025-04-24 11:34:21 [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 11:34:21 [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 11:34:21 [debug] Moves scheduled 17620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:21 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17258, writes 0 timeouts 0
2025-04-24 11:34:21 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37175
2025-04-24 11:34:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:21 [info] currentZPosition:0.140
2025-04-24 11:34:22 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:22 [debug] Diagnostics for board 50:
2025-04-24 11:34:22 [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 11:34:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:27 ago, cause: software
2025-04-24 11:34:22 [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 11:34:22 [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 11:34:22 [debug] Moves scheduled 17624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17857
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:22 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16275, writes 0 timeouts 0
2025-04-24 11:34:22 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36164/37175
2025-04-24 11:34:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:22 [info] currentZPosition:0.141
2025-04-24 11:34:24 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:24 [debug] Diagnostics for board 50:
2025-04-24 11:34:24 [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 11:34:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:28 ago, cause: software
2025-04-24 11:34:24 [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 11:34:24 [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 11:34:24 [debug] Moves scheduled 17628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=18292
Sync err accum 84, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:24 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 17249, writes 0 timeouts 0
2025-04-24 11:34:24 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36095/37176
2025-04-24 11:34:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:24 [info] currentZPosition:0.141
2025-04-24 11:34:25 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:25 [debug] Diagnostics for board 50:
2025-04-24 11:34:25 [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 11:34:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:30 ago, cause: software
2025-04-24 11:34:25 [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 11:34:25 [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 11:34:25 [debug] Moves scheduled 17632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:34:25 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16891, writes 0 timeouts 0
2025-04-24 11:34:25 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37178
2025-04-24 11:34:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:25 [info] currentZPosition:0.140
2025-04-24 11:34:26 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:26 [debug] Diagnostics for board 50:
2025-04-24 11:34:26 [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 11:34:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:31 ago, cause: software
2025-04-24 11:34:26 [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 11:34:26 [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 11:34:26 [debug] Moves scheduled 17636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294937105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:34:26 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 17016, writes 0 timeouts 0
2025-04-24 11:34:26 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37177
2025-04-24 11:34:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:26 [info] currentZPosition:0.141
2025-04-24 11:34:28 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:28 [debug] Diagnostics for board 50:
2025-04-24 11:34:28 [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 11:34:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:33 ago, cause: software
2025-04-24 11:34:28 [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 11:34:28 [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 11:34:28 [debug] Moves scheduled 17640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
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 4294930511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:28 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 16569, writes 0 timeouts 0
2025-04-24 11:34:28 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37176
2025-04-24 11:34:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:28 [info] currentZPosition:0.141
2025-04-24 11:34:29 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:29 [debug] Diagnostics for board 50:
2025-04-24 11:34:29 [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 11:34:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:34 ago, cause: software
2025-04-24 11:34:29 [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 11:34:29 [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 11:34:29 [debug] Moves scheduled 17644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6465, max=17857
Sync err accum 79, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:34:29 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17789, writes 0 timeouts 0
2025-04-24 11:34:29 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37175
2025-04-24 11:34:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:29 [info] currentZPosition:0.139
2025-04-24 11:34:29 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:31 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:31 [debug] Diagnostics for board 50:
2025-04-24 11:34:31 [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 11:34:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:36 ago, cause: software
2025-04-24 11:34:31 [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 11:34:31 [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 11:34:31 [debug] Moves scheduled 17650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6521, max=17857
Sync err accum 86, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:31 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 20244, writes 0 timeouts 0
2025-04-24 11:34:31 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37173
2025-04-24 11:34:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:31 [info] currentZPosition:0.139
2025-04-24 11:34:32 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:32 [debug] Diagnostics for board 50:
2025-04-24 11:34:32 [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 11:34:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:37 ago, cause: software
2025-04-24 11:34:32 [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 11:34:32 [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 11:34:32 [debug] Moves scheduled 17654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6355, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:32 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16821, writes 0 timeouts 0
2025-04-24 11:34:32 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37174
2025-04-24 11:34:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:32 [info] currentZPosition:0.140
2025-04-24 11:34:33 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:33 [debug] Diagnostics for board 50:
2025-04-24 11:34:33 [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 11:34:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:38 ago, cause: software
2025-04-24 11:34:33 [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 11:34:33 [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 11:34:33 [debug] Moves scheduled 17658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6756, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:33 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16655, writes 0 timeouts 0
2025-04-24 11:34:33 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37176
2025-04-24 11:34:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:33 [info] currentZPosition:0.140
2025-04-24 11:34:35 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:35 [debug] Diagnostics for board 50:
2025-04-24 11:34:35 [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 11:34:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:40 ago, cause: software
2025-04-24 11:34:35 [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 11:34:35 [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 11:34:35 [debug] Moves scheduled 17662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter -1/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:34:35 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17162, writes 0 timeouts 0
2025-04-24 11:34:35 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37175
2025-04-24 11:34:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:35 [info] currentZPosition:0.140
2025-04-24 11:34:36 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:36 [debug] Diagnostics for board 50:
2025-04-24 11:34:36 [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 11:34:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:41 ago, cause: software
2025-04-24 11:34:36 [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 11:34:36 [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 11:34:36 [debug] Moves scheduled 17666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=81, frequency (Hz): min=6147, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:36 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16239, writes 0 timeouts 0
2025-04-24 11:34:36 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36062/37174
2025-04-24 11:34:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 809
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:36 [info] currentZPosition:0.141
2025-04-24 11:34:37 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:37 [debug] Diagnostics for board 50:
2025-04-24 11:34:37 [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 11:34:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:42 ago, cause: software
2025-04-24 11:34:37 [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 11:34:37 [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 11:34:37 [debug] Moves scheduled 17670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6578, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:37 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17597, writes 0 timeouts 0
2025-04-24 11:34:37 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37174
2025-04-24 11:34:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:38 [info] currentZPosition:0.140
2025-04-24 11:34:38 [debug] Stopped at height 0.138 mm
2025-04-24 11:34:38 [debug] Stopped at height 0.138 mm
2025-04-24 11:34:39 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:39 [debug] Diagnostics for board 50:
2025-04-24 11:34:39 [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 11:34:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:44 ago, cause: software
2025-04-24 11:34:39 [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 11:34:39 [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 11:34:39 [debug] Moves scheduled 17678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:39 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 24523, writes 0 timeouts 0
2025-04-24 11:34:39 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36158/37178
2025-04-24 11:34:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:40 [info] currentZPosition:0.140
2025-04-24 11:34:40 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:41 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:41 [debug] Diagnostics for board 50:
2025-04-24 11:34:41 [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 11:34:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:46 ago, cause: software
2025-04-24 11:34:41 [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 11:34:41 [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 11:34:41 [debug] Moves scheduled 17684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 83, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:41 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20753, writes 0 timeouts 0
2025-04-24 11:34:41 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37171
2025-04-24 11:34:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:41 [info] currentZPosition:0.141
2025-04-24 11:34:42 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:43 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:43 [debug] Diagnostics for board 50:
2025-04-24 11:34:43 [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 11:34:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:48 ago, cause: software
2025-04-24 11:34:43 [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 11:34:43 [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 11:34:43 [debug] Moves scheduled 17690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=6410, max=17045
Sync err accum 95, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:34:43 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20602, writes 0 timeouts 0
2025-04-24 11:34:43 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36157/37174
2025-04-24 11:34:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:43 [info] currentZPosition:0.141
2025-04-24 11:34:43 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:44 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:44 [debug] Diagnostics for board 50:
2025-04-24 11:34:44 [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 11:34:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:49 ago, cause: software
2025-04-24 11:34:44 [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 11:34:44 [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 11:34:44 [debug] Moves scheduled 17696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 103, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:44 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 21075, writes 0 timeouts 0
2025-04-24 11:34:44 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36099/37173
2025-04-24 11:34:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:45 [info] currentZPosition:0.141
2025-04-24 11:34:45 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:46 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:46 [debug] Diagnostics for board 50:
2025-04-24 11:34:46 [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 11:34:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:51 ago, cause: software
2025-04-24 11:34:46 [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 11:34:46 [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 11:34:46 [debug] Moves scheduled 17702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6880, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:46 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20269, writes 0 timeouts 0
2025-04-24 11:34:46 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37176
2025-04-24 11:34:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:46 [info] currentZPosition:0.141
2025-04-24 11:34:47 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:47 [debug] Diagnostics for board 50:
2025-04-24 11:34:47 [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 11:34:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:52 ago, cause: software
2025-04-24 11:34:47 [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 11:34:47 [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 11:34:47 [debug] Moves scheduled 17706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:47 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17469, writes 0 timeouts 0
2025-04-24 11:34:47 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37175
2025-04-24 11:34:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:48 [info] currentZPosition:0.140
2025-04-24 11:34:49 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:49 [debug] Diagnostics for board 50:
2025-04-24 11:34:49 [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 11:34:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:54 ago, cause: software
2025-04-24 11:34:49 [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 11:34:49 [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 11:34:49 [debug] Moves scheduled 17710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 103, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:49 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16254, writes 0 timeouts 0
2025-04-24 11:34:49 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37174
2025-04-24 11:34:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:49 [info] currentZPosition:0.141
2025-04-24 11:34:50 [debug] Stopped at height 0.142 mm
2025-04-24 11:34:50 [debug] Diagnostics for board 50:
2025-04-24 11:34:50 [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 11:34:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:55 ago, cause: software
2025-04-24 11:34:50 [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 11:34:50 [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 11:34:50 [debug] Moves scheduled 17714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 94, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:50 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min 0, mspos 584, reads 16896, writes 0 timeouts 0
2025-04-24 11:34:50 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36094/37175
2025-04-24 11:34:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 810
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:50 [info] currentZPosition:0.142
2025-04-24 11:34:52 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:52 [debug] Diagnostics for board 50:
2025-04-24 11:34:52 [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 11:34:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:56 ago, cause: software
2025-04-24 11:34:52 [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 11:34:52 [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 11:34:52 [debug] Moves scheduled 17718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:52 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17114, writes 0 timeouts 0
2025-04-24 11:34:52 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37177
2025-04-24 11:34:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:52 [info] currentZPosition:0.140
2025-04-24 11:34:52 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:53 [debug] Stopped at height 0.142 mm
2025-04-24 11:34:53 [debug] Diagnostics for board 50:
2025-04-24 11:34:53 [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 11:34:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:36:58 ago, cause: software
2025-04-24 11:34:53 [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 11:34:53 [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 11:34:53 [debug] Moves scheduled 17724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6048, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:34:53 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20644, writes 0 timeouts 0
2025-04-24 11:34:53 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37174
2025-04-24 11:34:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:53 [info] currentZPosition:0.142
2025-04-24 11:34:54 [debug] Stopped at height 0.141 mm
2025-04-24 11:34:55 [debug] Stopped at height 0.142 mm
2025-04-24 11:34:55 [debug] Diagnostics for board 50:
2025-04-24 11:34:55 [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 11:34:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:00 ago, cause: software
2025-04-24 11:34:55 [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 11:34:55 [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 11:34:55 [debug] Moves scheduled 17730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 63, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:55 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 20591, writes 0 timeouts 0
2025-04-24 11:34:55 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37176
2025-04-24 11:34:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:55 [info] currentZPosition:0.142
2025-04-24 11:34:56 [debug] Stopped at height 0.140 mm
2025-04-24 11:34:56 [debug] Diagnostics for board 50:
2025-04-24 11:34:56 [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 11:34:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:01 ago, cause: software
2025-04-24 11:34:56 [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 11:34:56 [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 11:34:56 [debug] Moves scheduled 17734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6696, max=17857
Sync err accum 75, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:56 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17689, writes 0 timeouts 0
2025-04-24 11:34:56 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36102/37176
2025-04-24 11:34:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:56 [info] currentZPosition:0.140
2025-04-24 11:34:57 [debug] Stopped at height 0.139 mm
2025-04-24 11:34:58 [debug] Stopped at height 0.142 mm
2025-04-24 11:34:58 [debug] Diagnostics for board 50:
2025-04-24 11:34:58 [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 11:34:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:03 ago, cause: software
2025-04-24 11:34:58 [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 11:34:58 [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 11:34:58 [debug] Moves scheduled 17740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:34:58 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 20110, writes 0 timeouts 0
2025-04-24 11:34:58 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36160/37175
2025-04-24 11:34:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:34:58 [info] currentZPosition:0.142
2025-04-24 11:34:58 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:00 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:00 [debug] Diagnostics for board 50:
2025-04-24 11:35:00 [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 11:35:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:04 ago, cause: software
2025-04-24 11:35:00 [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 11:35:00 [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 11:35:00 [debug] Moves scheduled 17746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:00 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 20947, writes 0 timeouts 0
2025-04-24 11:35:00 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 11:35:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:00 [info] currentZPosition:0.142
2025-04-24 11:35:00 [debug] Stopped at height 0.144 mm
2025-04-24 11:35:00 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:02 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:02 [debug] Diagnostics for board 50:
2025-04-24 11:35:02 [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 11:35:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:06 ago, cause: software
2025-04-24 11:35:02 [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 11:35:02 [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 11:35:02 [debug] Moves scheduled 17754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=512, max=17045
Sync err accum 85, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:02 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 24971, writes 11 timeouts 1
2025-04-24 11:35:02 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 36283/37175
2025-04-24 11:35:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:02 [info] currentZPosition:0.141
2025-04-24 11:35:03 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:03 [debug] Diagnostics for board 50:
2025-04-24 11:35:03 [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 11:35:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:08 ago, cause: software
2025-04-24 11:35:03 [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 11:35:03 [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 11:35:03 [debug] Moves scheduled 17758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17441
Sync err accum 80, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:03 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17075, writes 0 timeouts 0
2025-04-24 11:35:03 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37175
2025-04-24 11:35:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:03 [info] currentZPosition:0.142
2025-04-24 11:35:04 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:04 [debug] Diagnostics for board 50:
2025-04-24 11:35:04 [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 11:35:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:09 ago, cause: software
2025-04-24 11:35:04 [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 11:35:04 [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 11:35:04 [debug] Moves scheduled 17762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:04 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16516, writes 0 timeouts 0
2025-04-24 11:35:04 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36397/37175
2025-04-24 11:35:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:04 [info] currentZPosition:0.142
2025-04-24 11:35:06 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:06 [debug] Diagnostics for board 50:
2025-04-24 11:35:06 [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 11:35:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:10 ago, cause: software
2025-04-24 11:35:06 [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 11:35:06 [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 11:35:06 [debug] Moves scheduled 17766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=18292
Sync err accum 66, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:06 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17206, writes 0 timeouts 0
2025-04-24 11:35:06 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 11:35:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:06 [info] currentZPosition:0.142
2025-04-24 11:35:07 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:07 [debug] Diagnostics for board 50:
2025-04-24 11:35:07 [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 11:35:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:12 ago, cause: software
2025-04-24 11:35:07 [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 11:35:07 [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 11:35:07 [debug] Moves scheduled 17770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:07 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16801, writes 0 timeouts 0
2025-04-24 11:35:07 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36399/37177
2025-04-24 11:35:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:07 [info] currentZPosition:0.141
2025-04-24 11:35:08 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:08 [debug] Diagnostics for board 50:
2025-04-24 11:35:08 [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 11:35:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:13 ago, cause: software
2025-04-24 11:35:08 [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 11:35:08 [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 11:35:08 [debug] Moves scheduled 17774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:08 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17178, writes 0 timeouts 0
2025-04-24 11:35:08 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:35:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:08 [info] currentZPosition:0.141
2025-04-24 11:35:10 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:10 [debug] Diagnostics for board 50:
2025-04-24 11:35:10 [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 11:35:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:14 ago, cause: software
2025-04-24 11:35:10 [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 11:35:10 [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 11:35:10 [debug] Moves scheduled 17778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5725, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:10 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16421, writes 0 timeouts 0
2025-04-24 11:35:10 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37174
2025-04-24 11:35:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:10 [info] currentZPosition:0.142
2025-04-24 11:35:11 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:11 [debug] Diagnostics for board 50:
2025-04-24 11:35:11 [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 11:35:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:16 ago, cause: software
2025-04-24 11:35:11 [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 11:35:11 [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 11:35:11 [debug] Moves scheduled 17782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 73, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:11 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17341, writes 0 timeouts 0
2025-04-24 11:35:11 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37173
2025-04-24 11:35:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:11 [info] currentZPosition:0.142
2025-04-24 11:35:12 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:12 [debug] Diagnostics for board 50:
2025-04-24 11:35:12 [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 11:35:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:17 ago, cause: software
2025-04-24 11:35:12 [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 11:35:12 [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 11:35:12 [debug] Moves scheduled 17786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:12 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16808, writes 0 timeouts 0
2025-04-24 11:35:12 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37177
2025-04-24 11:35:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:12 [info] currentZPosition:0.141
2025-04-24 11:35:14 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:14 [debug] Diagnostics for board 50:
2025-04-24 11:35:14 [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 11:35:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:19 ago, cause: software
2025-04-24 11:35:14 [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 11:35:14 [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 11:35:14 [debug] Moves scheduled 17790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 65, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:14 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17026, writes 0 timeouts 0
2025-04-24 11:35:14 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37175
2025-04-24 11:35:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:14 [info] currentZPosition:0.142
2025-04-24 11:35:15 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:15 [debug] Diagnostics for board 50:
2025-04-24 11:35:15 [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 11:35:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:20 ago, cause: software
2025-04-24 11:35:15 [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 11:35:15 [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 11:35:15 [debug] Moves scheduled 17794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:15 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16554, writes 0 timeouts 0
2025-04-24 11:35:15 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37172
2025-04-24 11:35:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:15 [info] currentZPosition:0.142
2025-04-24 11:35:16 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:16 [debug] Diagnostics for board 50:
2025-04-24 11:35:16 [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 11:35:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:21 ago, cause: software
2025-04-24 11:35:16 [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 11:35:16 [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 11:35:16 [debug] Moves scheduled 17798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6198, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:16 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17233, writes 0 timeouts 0
2025-04-24 11:35:16 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37173
2025-04-24 11:35:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:16 [info] currentZPosition:0.141
2025-04-24 11:35:18 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:18 [debug] Diagnostics for board 50:
2025-04-24 11:35:18 [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 11:35:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:23 ago, cause: software
2025-04-24 11:35:18 [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 11:35:18 [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 11:35:18 [debug] Moves scheduled 17802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=110, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:18 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16457, writes 0 timeouts 0
2025-04-24 11:35:18 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36399/37173
2025-04-24 11:35:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:18 [info] currentZPosition:0.142
2025-04-24 11:35:19 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:19 [debug] Diagnostics for board 50:
2025-04-24 11:35:19 [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 11:35:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:24 ago, cause: software
2025-04-24 11:35:19 [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 11:35:19 [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 11:35:19 [debug] Moves scheduled 17806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17857
Sync err accum 85, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:19 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17185, writes 0 timeouts 0
2025-04-24 11:35:19 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 11:35:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:19 [info] currentZPosition:0.142
2025-04-24 11:35:20 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:20 [debug] Diagnostics for board 50:
2025-04-24 11:35:20 [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 11:35:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:25 ago, cause: software
2025-04-24 11:35:20 [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 11:35:20 [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 11:35:20 [debug] Moves scheduled 17810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5859, max=18292
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:20 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16848, writes 0 timeouts 0
2025-04-24 11:35:20 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36394/37173
2025-04-24 11:35:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:21 [info] currentZPosition:0.141
2025-04-24 11:35:22 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:22 [debug] Diagnostics for board 50:
2025-04-24 11:35:22 [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 11:35:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:27 ago, cause: software
2025-04-24 11:35:22 [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 11:35:22 [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 11:35:22 [debug] Moves scheduled 17814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=782, max=17441
Sync err accum 83, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:22 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17103, writes 11 timeouts 1
2025-04-24 11:35:22 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37177
2025-04-24 11:35:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:22 [info] currentZPosition:0.142
2025-04-24 11:35:23 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:23 [debug] Diagnostics for board 50:
2025-04-24 11:35:23 [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 11:35:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:28 ago, cause: software
2025-04-24 11:35:23 [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 11:35:23 [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 11:35:23 [debug] Moves scheduled 17818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:23 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16793, writes 0 timeouts 0
2025-04-24 11:35:23 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37174
2025-04-24 11:35:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:23 [info] currentZPosition:0.141
2025-04-24 11:35:25 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:25 [debug] Diagnostics for board 50:
2025-04-24 11:35:25 [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 11:35:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:29 ago, cause: software
2025-04-24 11:35:25 [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 11:35:25 [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 11:35:25 [debug] Moves scheduled 17822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 76, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:25 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17005, writes 0 timeouts 0
2025-04-24 11:35:25 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37177
2025-04-24 11:35:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:25 [info] currentZPosition:0.142
2025-04-24 11:35:26 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:26 [debug] Diagnostics for board 50:
2025-04-24 11:35:26 [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 11:35:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:31 ago, cause: software
2025-04-24 11:35:26 [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 11:35:26 [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 11:35:26 [debug] Moves scheduled 17826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:26 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16700, writes 0 timeouts 0
2025-04-24 11:35:26 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37177
2025-04-24 11:35:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:26 [info] currentZPosition:0.141
2025-04-24 11:35:27 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:27 [debug] Diagnostics for board 50:
2025-04-24 11:35:27 [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 11:35:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:32 ago, cause: software
2025-04-24 11:35:27 [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 11:35:27 [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 11:35:27 [debug] Moves scheduled 17830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
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 4294932269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:27 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17346, writes 0 timeouts 0
2025-04-24 11:35:27 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37172
2025-04-24 11:35:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:27 [info] currentZPosition:0.141
2025-04-24 11:35:29 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:29 [debug] Diagnostics for board 50:
2025-04-24 11:35:29 [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 11:35:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:33 ago, cause: software
2025-04-24 11:35:29 [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 11:35:29 [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 11:35:29 [debug] Moves scheduled 17834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6756, max=17045
Sync err accum 75, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:29 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16541, writes 0 timeouts 0
2025-04-24 11:35:29 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37174
2025-04-24 11:35:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:29 [info] currentZPosition:0.141
2025-04-24 11:35:30 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:30 [debug] Diagnostics for board 50:
2025-04-24 11:35:30 [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 11:35:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:35 ago, cause: software
2025-04-24 11:35:30 [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 11:35:30 [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 11:35:30 [debug] Moves scheduled 17838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6637, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:30 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16967, writes 0 timeouts 0
2025-04-24 11:35:30 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37173
2025-04-24 11:35:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:30 [info] currentZPosition:0.142
2025-04-24 11:35:31 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:31 [debug] Diagnostics for board 50:
2025-04-24 11:35:31 [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 11:35:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:36 ago, cause: software
2025-04-24 11:35:31 [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 11:35:31 [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 11:35:31 [debug] Moves scheduled 17842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 90, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:31 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16927, writes 0 timeouts 0
2025-04-24 11:35:31 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37176
2025-04-24 11:35:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:31 [info] currentZPosition:0.141
2025-04-24 11:35:33 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:33 [debug] Diagnostics for board 50:
2025-04-24 11:35:33 [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 11:35:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:37 ago, cause: software
2025-04-24 11:35:33 [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 11:35:33 [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 11:35:33 [debug] Moves scheduled 17846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 94, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:33 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17262, writes 0 timeouts 0
2025-04-24 11:35:33 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36096/37175
2025-04-24 11:35:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:33 [info] currentZPosition:0.141
2025-04-24 11:35:34 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:34 [debug] Diagnostics for board 50:
2025-04-24 11:35:34 [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 11:35:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:39 ago, cause: software
2025-04-24 11:35:34 [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 11:35:34 [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 11:35:34 [debug] Moves scheduled 17850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:34 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16335, writes 0 timeouts 0
2025-04-24 11:35:34 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37174
2025-04-24 11:35:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:34 [info] currentZPosition:0.142
2025-04-24 11:35:35 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:35 [debug] Diagnostics for board 50:
2025-04-24 11:35:35 [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 11:35:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:40 ago, cause: software
2025-04-24 11:35:35 [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 11:35:35 [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 11:35:35 [debug] Moves scheduled 17854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:35 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17260, writes 0 timeouts 0
2025-04-24 11:35:35 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37177
2025-04-24 11:35:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:35 [info] currentZPosition:0.141
2025-04-24 11:35:37 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:37 [debug] Diagnostics for board 50:
2025-04-24 11:35:37 [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 11:35:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:41 ago, cause: software
2025-04-24 11:35:37 [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 11:35:37 [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 11:35:37 [debug] Moves scheduled 17858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 92, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:37 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16296, writes 0 timeouts 0
2025-04-24 11:35:37 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37176
2025-04-24 11:35:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:37 [info] currentZPosition:0.142
2025-04-24 11:35:38 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:38 [debug] Diagnostics for board 50:
2025-04-24 11:35:38 [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 11:35:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:43 ago, cause: software
2025-04-24 11:35:38 [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 11:35:38 [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 11:35:38 [debug] Moves scheduled 17862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:38 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17481, writes 0 timeouts 0
2025-04-24 11:35:38 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36095/37175
2025-04-24 11:35:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:38 [info] currentZPosition:0.141
2025-04-24 11:35:39 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:39 [debug] Diagnostics for board 50:
2025-04-24 11:35:39 [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 11:35:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:44 ago, cause: software
2025-04-24 11:35:39 [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 11:35:39 [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 11:35:39 [debug] Moves scheduled 17866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6465, max=18292
Sync err accum 78, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:39 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16585, writes 0 timeouts 0
2025-04-24 11:35:39 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37175
2025-04-24 11:35:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:39 [info] currentZPosition:0.142
2025-04-24 11:35:41 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:41 [debug] Diagnostics for board 50:
2025-04-24 11:35:41 [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 11:35:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:46 ago, cause: software
2025-04-24 11:35:41 [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 11:35:41 [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 11:35:41 [debug] Moves scheduled 17870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=17857
Sync err accum 65, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:35:41 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17107, writes 0 timeouts 0
2025-04-24 11:35:41 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37177
2025-04-24 11:35:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:41 [info] currentZPosition:0.142
2025-04-24 11:35:42 [debug] Stopped at height 0.140 mm
2025-04-24 11:35:42 [debug] Diagnostics for board 50:
2025-04-24 11:35:42 [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 11:35:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:47 ago, cause: software
2025-04-24 11:35:42 [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 11:35:42 [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 11:35:42 [debug] Moves scheduled 17874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 68, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:42 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16964, writes 0 timeouts 0
2025-04-24 11:35:42 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37179
2025-04-24 11:35:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:42 [info] currentZPosition:0.140
2025-04-24 11:35:43 [debug] Stopped at height 0.140 mm
2025-04-24 11:35:44 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:44 [debug] Diagnostics for board 50:
2025-04-24 11:35:44 [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 11:35:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:49 ago, cause: software
2025-04-24 11:35:44 [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 11:35:44 [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 11:35:44 [debug] Moves scheduled 17880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:44 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 20646, writes 0 timeouts 0
2025-04-24 11:35:44 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37173
2025-04-24 11:35:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:44 [info] currentZPosition:0.142
2025-04-24 11:35:44 [debug] Stopped at height 0.144 mm
2025-04-24 11:35:44 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:45 [debug] Stopped at height 0.140 mm
2025-04-24 11:35:46 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:46 [debug] Diagnostics for board 50:
2025-04-24 11:35:46 [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 11:35:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:51 ago, cause: software
2025-04-24 11:35:46 [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 11:35:46 [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 11:35:46 [debug] Moves scheduled 17890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:46 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 28954, writes 0 timeouts 0
2025-04-24 11:35:46 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 293, adv 36401/37175
2025-04-24 11:35:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:46 [info] currentZPosition:0.141
2025-04-24 11:35:47 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:47 [debug] Diagnostics for board 50:
2025-04-24 11:35:47 [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 11:35:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:52 ago, cause: software
2025-04-24 11:35:47 [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 11:35:47 [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 11:35:47 [debug] Moves scheduled 17894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6147, max=17857
Sync err accum 89, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:47 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17203, writes 0 timeouts 0
2025-04-24 11:35:47 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37174
2025-04-24 11:35:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:48 [info] currentZPosition:0.141
2025-04-24 11:35:49 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:49 [debug] Diagnostics for board 50:
2025-04-24 11:35:49 [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 11:35:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:54 ago, cause: software
2025-04-24 11:35:49 [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 11:35:49 [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 11:35:49 [debug] Moves scheduled 17898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:49 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16682, writes 0 timeouts 0
2025-04-24 11:35:49 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36397/37175
2025-04-24 11:35:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:49 [info] currentZPosition:0.141
2025-04-24 11:35:50 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:50 [debug] Diagnostics for board 50:
2025-04-24 11:35:50 [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 11:35:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:55 ago, cause: software
2025-04-24 11:35:50 [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 11:35:50 [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 11:35:50 [debug] Moves scheduled 17902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 80, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:50 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16971, writes 0 timeouts 0
2025-04-24 11:35:50 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37176
2025-04-24 11:35:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:50 [info] currentZPosition:0.142
2025-04-24 11:35:51 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:51 [debug] Diagnostics for board 50:
2025-04-24 11:35:51 [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 11:35:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:56 ago, cause: software
2025-04-24 11:35:51 [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 11:35:51 [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 11:35:51 [debug] Moves scheduled 17906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 74, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:35:51 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16763, writes 0 timeouts 0
2025-04-24 11:35:51 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37177
2025-04-24 11:35:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:52 [info] currentZPosition:0.141
2025-04-24 11:35:53 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:53 [debug] Diagnostics for board 50:
2025-04-24 11:35:53 [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 11:35:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:58 ago, cause: software
2025-04-24 11:35:53 [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 11:35:53 [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 11:35:53 [debug] Moves scheduled 17910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:53 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17034, writes 0 timeouts 0
2025-04-24 11:35:53 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37177
2025-04-24 11:35:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:53 [info] currentZPosition:0.142
2025-04-24 11:35:54 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:54 [debug] Diagnostics for board 50:
2025-04-24 11:35:54 [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 11:35:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:37:59 ago, cause: software
2025-04-24 11:35:54 [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 11:35:54 [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 11:35:54 [debug] Moves scheduled 17914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:35:54 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16787, writes 0 timeouts 0
2025-04-24 11:35:54 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37172
2025-04-24 11:35:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:54 [info] currentZPosition:0.141
2025-04-24 11:35:56 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:56 [debug] Diagnostics for board 50:
2025-04-24 11:35:56 [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 11:35:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:00 ago, cause: software
2025-04-24 11:35:56 [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 11:35:56 [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 11:35:56 [debug] Moves scheduled 17918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:56 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16832, writes 0 timeouts 0
2025-04-24 11:35:56 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 11:35:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:56 [info] currentZPosition:0.142
2025-04-24 11:35:57 [debug] Stopped at height 0.142 mm
2025-04-24 11:35:57 [debug] Diagnostics for board 50:
2025-04-24 11:35:57 [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 11:35:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:02 ago, cause: software
2025-04-24 11:35:57 [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 11:35:57 [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 11:35:57 [debug] Moves scheduled 17922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:57 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16549, writes 0 timeouts 0
2025-04-24 11:35:57 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37174
2025-04-24 11:35:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:57 [info] currentZPosition:0.142
2025-04-24 11:35:58 [debug] Stopped at height 0.141 mm
2025-04-24 11:35:58 [debug] Diagnostics for board 50:
2025-04-24 11:35:58 [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 11:35:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:03 ago, cause: software
2025-04-24 11:35:58 [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 11:35:58 [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 11:35:58 [debug] Moves scheduled 17926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 80, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:35:58 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17474, writes 0 timeouts 0
2025-04-24 11:35:58 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37177
2025-04-24 11:35:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:35:58 [info] currentZPosition:0.141
2025-04-24 11:36:00 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:00 [debug] Diagnostics for board 50:
2025-04-24 11:36:00 [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 11:36:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:04 ago, cause: software
2025-04-24 11:36:00 [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 11:36:00 [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 11:36:00 [debug] Moves scheduled 17930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 81, peak jitter -1/1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:00 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16417, writes 0 timeouts 0
2025-04-24 11:36:00 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37170
2025-04-24 11:36:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:00 [info] currentZPosition:0.142
2025-04-24 11:36:01 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:01 [debug] Diagnostics for board 50:
2025-04-24 11:36:01 [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 11:36:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:06 ago, cause: software
2025-04-24 11:36:01 [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 11:36:01 [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 11:36:01 [debug] Moves scheduled 17934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:01 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16976, writes 0 timeouts 0
2025-04-24 11:36:01 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37175
2025-04-24 11:36:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:01 [info] currentZPosition:0.143
2025-04-24 11:36:02 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:02 [debug] Diagnostics for board 50:
2025-04-24 11:36:02 [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 11:36:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:07 ago, cause: software
2025-04-24 11:36:02 [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 11:36:02 [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 11:36:02 [debug] Moves scheduled 17938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=7009, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:02 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16949, writes 0 timeouts 0
2025-04-24 11:36:02 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37173
2025-04-24 11:36:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:02 [info] currentZPosition:0.141
2025-04-24 11:36:04 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:04 [debug] Diagnostics for board 50:
2025-04-24 11:36:04 [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 11:36:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:08 ago, cause: software
2025-04-24 11:36:04 [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 11:36:04 [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 11:36:04 [debug] Moves scheduled 17942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:04 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16988, writes 0 timeouts 0
2025-04-24 11:36:04 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 11:36:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:04 [info] currentZPosition:0.142
2025-04-24 11:36:05 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:05 [debug] Diagnostics for board 50:
2025-04-24 11:36:05 [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 11:36:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:10 ago, cause: software
2025-04-24 11:36:05 [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 11:36:05 [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 11:36:05 [debug] Moves scheduled 17946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:05 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16902, writes 0 timeouts 0
2025-04-24 11:36:05 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37174
2025-04-24 11:36:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:05 [info] currentZPosition:0.141
2025-04-24 11:36:06 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:06 [debug] Diagnostics for board 50:
2025-04-24 11:36:06 [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 11:36:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:11 ago, cause: software
2025-04-24 11:36:06 [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 11:36:06 [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 11:36:06 [debug] Moves scheduled 17950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 74, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:06 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17367, writes 0 timeouts 0
2025-04-24 11:36:06 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37174
2025-04-24 11:36:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:06 [info] currentZPosition:0.141
2025-04-24 11:36:08 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:08 [debug] Diagnostics for board 50:
2025-04-24 11:36:08 [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 11:36:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:13 ago, cause: software
2025-04-24 11:36:08 [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 11:36:08 [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 11:36:08 [debug] Moves scheduled 17954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 75, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:08 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 15982, writes 0 timeouts 0
2025-04-24 11:36:08 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37175
2025-04-24 11:36:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:08 [info] currentZPosition:0.142
2025-04-24 11:36:08 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:09 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:09 [debug] Diagnostics for board 50:
2025-04-24 11:36:09 [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 11:36:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:14 ago, cause: software
2025-04-24 11:36:09 [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 11:36:09 [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 11:36:09 [debug] Moves scheduled 17960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 74, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:09 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 21219, writes 0 timeouts 0
2025-04-24 11:36:09 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36104/37176
2025-04-24 11:36:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:09 [info] currentZPosition:0.142
2025-04-24 11:36:11 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:11 [debug] Diagnostics for board 50:
2025-04-24 11:36:11 [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 11:36:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:16 ago, cause: software
2025-04-24 11:36:11 [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 11:36:11 [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 11:36:11 [debug] Moves scheduled 17964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:11 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16984, writes 0 timeouts 0
2025-04-24 11:36:11 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37176
2025-04-24 11:36:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:11 [info] currentZPosition:0.141
2025-04-24 11:36:11 [debug] Stopped at height 0.139 mm
2025-04-24 11:36:12 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:12 [debug] Diagnostics for board 50:
2025-04-24 11:36:12 [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 11:36:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:17 ago, cause: software
2025-04-24 11:36:12 [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 11:36:12 [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 11:36:12 [debug] Moves scheduled 17970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17857
Sync err accum 66, peak jitter -2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:12 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20616, writes 0 timeouts 0
2025-04-24 11:36:12 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36107/37177
2025-04-24 11:36:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:12 [info] currentZPosition:0.142
2025-04-24 11:36:13 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:14 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:14 [debug] Diagnostics for board 50:
2025-04-24 11:36:14 [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 11:36:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:19 ago, cause: software
2025-04-24 11:36:14 [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 11:36:14 [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 11:36:14 [debug] Moves scheduled 17976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6097, max=17857
Sync err accum 83, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:14 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 20628, writes 0 timeouts 0
2025-04-24 11:36:14 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36160/37173
2025-04-24 11:36:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:14 [info] currentZPosition:0.142
2025-04-24 11:36:15 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:15 [debug] Diagnostics for board 50:
2025-04-24 11:36:15 [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 11:36:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:20 ago, cause: software
2025-04-24 11:36:15 [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 11:36:15 [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 11:36:15 [debug] Moves scheduled 17980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 97, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:15 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17259, writes 0 timeouts 0
2025-04-24 11:36:15 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36102/37174
2025-04-24 11:36:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:15 [info] currentZPosition:0.142
2025-04-24 11:36:17 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:17 [debug] Diagnostics for board 50:
2025-04-24 11:36:17 [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 11:36:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:22 ago, cause: software
2025-04-24 11:36:17 [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 11:36:17 [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 11:36:17 [debug] Moves scheduled 17984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17857
Sync err accum 107, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:17 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16266, writes 0 timeouts 0
2025-04-24 11:36:17 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37170
2025-04-24 11:36:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:17 [info] currentZPosition:0.143
2025-04-24 11:36:18 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:18 [debug] Diagnostics for board 50:
2025-04-24 11:36:18 [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 11:36:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:23 ago, cause: software
2025-04-24 11:36:18 [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 11:36:18 [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 11:36:18 [debug] Moves scheduled 17988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=18292
Sync err accum 116, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:18 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17580, writes 0 timeouts 0
2025-04-24 11:36:18 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37171
2025-04-24 11:36:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:18 [info] currentZPosition:0.142
2025-04-24 11:36:19 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:19 [debug] Diagnostics for board 50:
2025-04-24 11:36:19 [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 11:36:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:24 ago, cause: software
2025-04-24 11:36:19 [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 11:36:19 [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 11:36:19 [debug] Moves scheduled 17992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 121, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:19 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16582, writes 0 timeouts 0
2025-04-24 11:36:19 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37174
2025-04-24 11:36:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:20 [info] currentZPosition:0.142
2025-04-24 11:36:21 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:21 [debug] Diagnostics for board 50:
2025-04-24 11:36:21 [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 11:36:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:26 ago, cause: software
2025-04-24 11:36:21 [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 11:36:21 [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 11:36:21 [debug] Moves scheduled 17996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6410, max=17045
Sync err accum 126, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:21 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17258, writes 0 timeouts 0
2025-04-24 11:36:21 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37171
2025-04-24 11:36:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:21 [info] currentZPosition:0.142
2025-04-24 11:36:22 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:22 [debug] Diagnostics for board 50:
2025-04-24 11:36:22 [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 11:36:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:27 ago, cause: software
2025-04-24 11:36:22 [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 11:36:22 [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 11:36:22 [debug] Moves scheduled 18000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6465, max=17045
Sync err accum 126, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:22 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16409, writes 0 timeouts 0
2025-04-24 11:36:22 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35874/37174
2025-04-24 11:36:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:22 [info] currentZPosition:0.142
2025-04-24 11:36:24 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:24 [debug] Diagnostics for board 50:
2025-04-24 11:36:24 [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 11:36:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:28 ago, cause: software
2025-04-24 11:36:24 [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 11:36:24 [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 11:36:24 [debug] Moves scheduled 18004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=18292
Sync err accum 123, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:36:24 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17013, writes 0 timeouts 0
2025-04-24 11:36:24 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37175
2025-04-24 11:36:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:24 [info] currentZPosition:0.143
2025-04-24 11:36:25 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:25 [debug] Diagnostics for board 50:
2025-04-24 11:36:25 [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 11:36:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:30 ago, cause: software
2025-04-24 11:36:25 [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 11:36:25 [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 11:36:25 [debug] Moves scheduled 18008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=598, max=17045
Sync err accum 117, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:25 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16822, writes 11 timeouts 1
2025-04-24 11:36:25 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36166/37176
2025-04-24 11:36:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:25 [info] currentZPosition:0.142
2025-04-24 11:36:26 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:26 [debug] Diagnostics for board 50:
2025-04-24 11:36:26 [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 11:36:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:31 ago, cause: software
2025-04-24 11:36:26 [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 11:36:26 [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 11:36:26 [debug] Moves scheduled 18012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 108, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:36:26 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17000, writes 0 timeouts 0
2025-04-24 11:36:26 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36110/37178
2025-04-24 11:36:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:26 [info] currentZPosition:0.143
2025-04-24 11:36:28 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:28 [debug] Diagnostics for board 50:
2025-04-24 11:36:28 [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 11:36:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:32 ago, cause: software
2025-04-24 11:36:28 [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 11:36:28 [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 11:36:28 [debug] Moves scheduled 18016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6198, max=17857
Sync err accum 95, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:36:28 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16861, writes 0 timeouts 0
2025-04-24 11:36:28 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37177
2025-04-24 11:36:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:28 [info] currentZPosition:0.142
2025-04-24 11:36:29 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:29 [debug] Diagnostics for board 50:
2025-04-24 11:36:29 [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 11:36:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:34 ago, cause: software
2025-04-24 11:36:29 [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 11:36:29 [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 11:36:29 [debug] Moves scheduled 18020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6000, max=17045
Sync err accum 83, peak jitter -2/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294932830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 11:36:29 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17473, writes 0 timeouts 0
2025-04-24 11:36:29 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37175
2025-04-24 11:36:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:29 [info] currentZPosition:0.141
2025-04-24 11:36:30 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:30 [debug] Diagnostics for board 50:
2025-04-24 11:36:30 [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 11:36:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:35 ago, cause: software
2025-04-24 11:36:30 [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 11:36:30 [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 11:36:30 [debug] Moves scheduled 18024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6880, max=17045
Sync err accum 68, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:36:30 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16356, writes 0 timeouts 0
2025-04-24 11:36:30 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37176
2025-04-24 11:36:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:30 [info] currentZPosition:0.142
2025-04-24 11:36:32 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:32 [debug] Diagnostics for board 50:
2025-04-24 11:36:32 [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 11:36:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:36 ago, cause: software
2025-04-24 11:36:32 [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 11:36:32 [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 11:36:32 [debug] Moves scheduled 18028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 65, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:32 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17084, writes 0 timeouts 0
2025-04-24 11:36:32 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37179
2025-04-24 11:36:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:32 [info] currentZPosition:0.142
2025-04-24 11:36:33 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:33 [debug] Diagnostics for board 50:
2025-04-24 11:36:33 [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 11:36:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:38 ago, cause: software
2025-04-24 11:36:33 [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 11:36:33 [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 11:36:33 [debug] Moves scheduled 18032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:33 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16679, writes 0 timeouts 0
2025-04-24 11:36:33 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37173
2025-04-24 11:36:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:33 [info] currentZPosition:0.142
2025-04-24 11:36:34 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:34 [debug] Diagnostics for board 50:
2025-04-24 11:36:34 [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 11:36:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:39 ago, cause: software
2025-04-24 11:36:34 [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 11:36:34 [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 11:36:34 [debug] Moves scheduled 18036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 82, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:34 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17224, writes 0 timeouts 0
2025-04-24 11:36:34 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37175
2025-04-24 11:36:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:34 [info] currentZPosition:0.142
2025-04-24 11:36:36 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:36 [debug] Diagnostics for board 50:
2025-04-24 11:36:36 [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 11:36:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:40 ago, cause: software
2025-04-24 11:36:36 [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 11:36:36 [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 11:36:36 [debug] Moves scheduled 18040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=498, max=17045
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 4294931633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:36:36 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16294, writes 11 timeouts 1
2025-04-24 11:36:36 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36150/37175
2025-04-24 11:36:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:36 [info] currentZPosition:0.142
2025-04-24 11:36:37 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:37 [debug] Diagnostics for board 50:
2025-04-24 11:36:37 [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 11:36:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:42 ago, cause: software
2025-04-24 11:36:37 [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 11:36:37 [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 11:36:37 [debug] Moves scheduled 18044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:37 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17124, writes 0 timeouts 0
2025-04-24 11:36:37 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36095/37175
2025-04-24 11:36:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:37 [info] currentZPosition:0.143
2025-04-24 11:36:38 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:38 [debug] Diagnostics for board 50:
2025-04-24 11:36:38 [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 11:36:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:43 ago, cause: software
2025-04-24 11:36:38 [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 11:36:38 [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 11:36:38 [debug] Moves scheduled 18048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:38 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16645, writes 0 timeouts 0
2025-04-24 11:36:38 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36158/37174
2025-04-24 11:36:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:38 [info] currentZPosition:0.142
2025-04-24 11:36:40 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:40 [debug] Diagnostics for board 50:
2025-04-24 11:36:40 [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 11:36:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:45 ago, cause: software
2025-04-24 11:36:40 [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 11:36:40 [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 11:36:40 [debug] Moves scheduled 18052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17857
Sync err accum 90, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:40 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 17039, writes 0 timeouts 0
2025-04-24 11:36:40 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36091/37174
2025-04-24 11:36:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:40 [info] currentZPosition:0.143
2025-04-24 11:36:41 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:41 [debug] Diagnostics for board 50:
2025-04-24 11:36:41 [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 11:36:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:46 ago, cause: software
2025-04-24 11:36:41 [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 11:36:41 [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 11:36:41 [debug] Moves scheduled 18056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:41 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16995, writes 0 timeouts 0
2025-04-24 11:36:41 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36151/37175
2025-04-24 11:36:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:41 [info] currentZPosition:0.142
2025-04-24 11:36:42 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:42 [debug] Diagnostics for board 50:
2025-04-24 11:36:42 [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 11:36:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:47 ago, cause: software
2025-04-24 11:36:42 [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 11:36:42 [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 11:36:42 [debug] Moves scheduled 18060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=116, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:36:42 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16931, writes 0 timeouts 0
2025-04-24 11:36:42 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37177
2025-04-24 11:36:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:43 [info] currentZPosition:0.143
2025-04-24 11:36:44 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:44 [debug] Diagnostics for board 50:
2025-04-24 11:36:44 [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 11:36:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:49 ago, cause: software
2025-04-24 11:36:44 [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 11:36:44 [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 11:36:44 [debug] Moves scheduled 18064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:44 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16603, writes 0 timeouts 0
2025-04-24 11:36:44 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36165/37175
2025-04-24 11:36:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:44 [info] currentZPosition:0.142
2025-04-24 11:36:45 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:45 [debug] Diagnostics for board 50:
2025-04-24 11:36:45 [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 11:36:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:50 ago, cause: software
2025-04-24 11:36:45 [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 11:36:45 [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 11:36:45 [debug] Moves scheduled 18068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:45 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17190, writes 0 timeouts 0
2025-04-24 11:36:45 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37178
2025-04-24 11:36:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:45 [info] currentZPosition:0.142
2025-04-24 11:36:46 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:46 [debug] Diagnostics for board 50:
2025-04-24 11:36:46 [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 11:36:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:51 ago, cause: software
2025-04-24 11:36:46 [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 11:36:46 [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 11:36:46 [debug] Moves scheduled 18072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 72, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:46 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16555, writes 0 timeouts 0
2025-04-24 11:36:46 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37173
2025-04-24 11:36:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:47 [info] currentZPosition:0.143
2025-04-24 11:36:48 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:48 [debug] Diagnostics for board 50:
2025-04-24 11:36:48 [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 11:36:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:53 ago, cause: software
2025-04-24 11:36:48 [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 11:36:48 [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 11:36:48 [debug] Moves scheduled 18076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:48 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17298, writes 0 timeouts 0
2025-04-24 11:36:48 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36121/37172
2025-04-24 11:36:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:48 [info] currentZPosition:0.142
2025-04-24 11:36:49 [debug] Stopped at height 0.141 mm
2025-04-24 11:36:49 [debug] Diagnostics for board 50:
2025-04-24 11:36:49 [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 11:36:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:54 ago, cause: software
2025-04-24 11:36:49 [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 11:36:49 [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 11:36:49 [debug] Moves scheduled 18080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:49 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16883, writes 0 timeouts 0
2025-04-24 11:36:49 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36378/37174
2025-04-24 11:36:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:49 [info] currentZPosition:0.141
2025-04-24 11:36:51 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:51 [debug] Diagnostics for board 50:
2025-04-24 11:36:51 [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 11:36:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:55 ago, cause: software
2025-04-24 11:36:51 [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 11:36:51 [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 11:36:51 [debug] Moves scheduled 18084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6198, max=17045
Sync err accum 86, peak jitter 0/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294929877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:51 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16770, writes 0 timeouts 0
2025-04-24 11:36:51 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37173
2025-04-24 11:36:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:51 [info] currentZPosition:0.143
2025-04-24 11:36:51 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:52 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:52 [debug] Diagnostics for board 50:
2025-04-24 11:36:52 [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 11:36:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:57 ago, cause: software
2025-04-24 11:36:52 [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 11:36:52 [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 11:36:52 [debug] Moves scheduled 18090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6756, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:52 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20683, writes 0 timeouts 0
2025-04-24 11:36:52 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36397/37172
2025-04-24 11:36:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:52 [info] currentZPosition:0.142
2025-04-24 11:36:54 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:54 [debug] Diagnostics for board 50:
2025-04-24 11:36:54 [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 11:36:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:38:58 ago, cause: software
2025-04-24 11:36:54 [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 11:36:54 [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 11:36:54 [debug] Moves scheduled 18094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:54 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17209, writes 0 timeouts 0
2025-04-24 11:36:54 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37175
2025-04-24 11:36:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:54 [info] currentZPosition:0.142
2025-04-24 11:36:55 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:55 [debug] Diagnostics for board 50:
2025-04-24 11:36:55 [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 11:36:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:00 ago, cause: software
2025-04-24 11:36:55 [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 11:36:55 [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 11:36:55 [debug] Moves scheduled 18098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:55 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16366, writes 0 timeouts 0
2025-04-24 11:36:55 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37174
2025-04-24 11:36:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:55 [info] currentZPosition:0.143
2025-04-24 11:36:56 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:56 [debug] Diagnostics for board 50:
2025-04-24 11:36:56 [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 11:36:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:01 ago, cause: software
2025-04-24 11:36:56 [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 11:36:56 [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 11:36:56 [debug] Moves scheduled 18102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=10, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:36:56 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17468, writes 0 timeouts 0
2025-04-24 11:36:56 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37176
2025-04-24 11:36:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:56 [info] currentZPosition:0.142
2025-04-24 11:36:58 [debug] Stopped at height 0.143 mm
2025-04-24 11:36:58 [debug] Diagnostics for board 50:
2025-04-24 11:36:58 [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 11:36:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:02 ago, cause: software
2025-04-24 11:36:58 [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 11:36:58 [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 11:36:58 [debug] Moves scheduled 18106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:36:58 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16429, writes 0 timeouts 0
2025-04-24 11:36:58 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36405/37177
2025-04-24 11:36:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:58 [info] currentZPosition:0.143
2025-04-24 11:36:59 [debug] Stopped at height 0.142 mm
2025-04-24 11:36:59 [debug] Diagnostics for board 50:
2025-04-24 11:36:59 [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 11:36:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:04 ago, cause: software
2025-04-24 11:36:59 [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 11:36:59 [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 11:36:59 [debug] Moves scheduled 18110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6147, max=17857
Sync err accum 70, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:36:59 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17475, writes 0 timeouts 0
2025-04-24 11:36:59 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36102/37173
2025-04-24 11:36:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:36:59 [info] currentZPosition:0.142
2025-04-24 11:37:00 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:00 [debug] Diagnostics for board 50:
2025-04-24 11:37:00 [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 11:37:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:05 ago, cause: software
2025-04-24 11:37:00 [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 11:37:00 [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 11:37:00 [debug] Moves scheduled 18114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:00 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16631, writes 0 timeouts 0
2025-04-24 11:37:00 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37173
2025-04-24 11:37:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:00 [info] currentZPosition:0.142
2025-04-24 11:37:02 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:02 [debug] Diagnostics for board 50:
2025-04-24 11:37:02 [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 11:37:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:07 ago, cause: software
2025-04-24 11:37:02 [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 11:37:02 [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 11:37:02 [debug] Moves scheduled 18118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=18292
Sync err accum 74, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294929430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:37:02 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16916, writes 0 timeouts 0
2025-04-24 11:37:02 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37172
2025-04-24 11:37:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:02 [info] currentZPosition:0.143
2025-04-24 11:37:03 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:03 [debug] Diagnostics for board 50:
2025-04-24 11:37:03 [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 11:37:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:08 ago, cause: software
2025-04-24 11:37:03 [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 11:37:03 [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 11:37:03 [debug] Moves scheduled 18122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:03 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16482, writes 0 timeouts 0
2025-04-24 11:37:03 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37175
2025-04-24 11:37:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:03 [info] currentZPosition:0.143
2025-04-24 11:37:04 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:04 [debug] Diagnostics for board 50:
2025-04-24 11:37:04 [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 11:37:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:09 ago, cause: software
2025-04-24 11:37:04 [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 11:37:04 [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 11:37:04 [debug] Moves scheduled 18126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6578, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:04 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17335, writes 0 timeouts 0
2025-04-24 11:37:04 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36134/37173
2025-04-24 11:37:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:04 [info] currentZPosition:0.142
2025-04-24 11:37:06 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:06 [debug] Diagnostics for board 50:
2025-04-24 11:37:06 [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 11:37:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:11 ago, cause: software
2025-04-24 11:37:06 [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 11:37:06 [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 11:37:06 [debug] Moves scheduled 18130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6000, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:06 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16727, writes 0 timeouts 0
2025-04-24 11:37:06 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36396/37178
2025-04-24 11:37:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:06 [info] currentZPosition:0.142
2025-04-24 11:37:07 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:07 [debug] Diagnostics for board 50:
2025-04-24 11:37:07 [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 11:37:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:12 ago, cause: software
2025-04-24 11:37:07 [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 11:37:07 [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 11:37:07 [debug] Moves scheduled 18134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6944, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:07 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17245, writes 0 timeouts 0
2025-04-24 11:37:07 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36105/37175
2025-04-24 11:37:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:07 [info] currentZPosition:0.142
2025-04-24 11:37:08 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:08 [debug] Diagnostics for board 50:
2025-04-24 11:37:08 [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 11:37:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:13 ago, cause: software
2025-04-24 11:37:08 [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 11:37:08 [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 11:37:08 [debug] Moves scheduled 18138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:37:08 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16705, writes 0 timeouts 0
2025-04-24 11:37:08 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37175
2025-04-24 11:37:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:09 [info] currentZPosition:0.142
2025-04-24 11:37:10 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:10 [debug] Diagnostics for board 50:
2025-04-24 11:37:10 [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 11:37:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:15 ago, cause: software
2025-04-24 11:37:10 [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 11:37:10 [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 11:37:10 [debug] Moves scheduled 18142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:10 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16970, writes 0 timeouts 0
2025-04-24 11:37:10 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37176
2025-04-24 11:37:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:10 [info] currentZPosition:0.142
2025-04-24 11:37:11 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:11 [debug] Diagnostics for board 50:
2025-04-24 11:37:11 [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 11:37:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:16 ago, cause: software
2025-04-24 11:37:11 [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 11:37:11 [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 11:37:11 [debug] Moves scheduled 18146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6880, max=17045
Sync err accum 65, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:11 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16522, writes 0 timeouts 0
2025-04-24 11:37:11 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37177
2025-04-24 11:37:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:11 [info] currentZPosition:0.143
2025-04-24 11:37:12 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:12 [debug] Diagnostics for board 50:
2025-04-24 11:37:12 [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 11:37:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:17 ago, cause: software
2025-04-24 11:37:12 [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 11:37:12 [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 11:37:12 [debug] Moves scheduled 18150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:12 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16988, writes 0 timeouts 0
2025-04-24 11:37:12 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 11:37:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:13 [info] currentZPosition:0.143
2025-04-24 11:37:14 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:14 [debug] Diagnostics for board 50:
2025-04-24 11:37:14 [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 11:37:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:19 ago, cause: software
2025-04-24 11:37:14 [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 11:37:14 [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 11:37:14 [debug] Moves scheduled 18154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:14 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16912, writes 0 timeouts 0
2025-04-24 11:37:14 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37174
2025-04-24 11:37:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:14 [info] currentZPosition:0.142
2025-04-24 11:37:15 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:15 [debug] Diagnostics for board 50:
2025-04-24 11:37:15 [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 11:37:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:20 ago, cause: software
2025-04-24 11:37:15 [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 11:37:15 [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 11:37:15 [debug] Moves scheduled 18158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:15 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16919, writes 0 timeouts 0
2025-04-24 11:37:15 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37173
2025-04-24 11:37:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:15 [info] currentZPosition:0.143
2025-04-24 11:37:17 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:17 [debug] Diagnostics for board 50:
2025-04-24 11:37:17 [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 11:37:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:21 ago, cause: software
2025-04-24 11:37:17 [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 11:37:17 [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 11:37:17 [debug] Moves scheduled 18162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5395, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:17 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16899, writes 0 timeouts 0
2025-04-24 11:37:17 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37175
2025-04-24 11:37:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:17 [info] currentZPosition:0.142
2025-04-24 11:37:18 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:18 [debug] Diagnostics for board 50:
2025-04-24 11:37:18 [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 11:37:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:23 ago, cause: software
2025-04-24 11:37:18 [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 11:37:18 [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 11:37:18 [debug] Moves scheduled 18166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 84, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:18 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17032, writes 0 timeouts 0
2025-04-24 11:37:18 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37173
2025-04-24 11:37:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:18 [info] currentZPosition:0.143
2025-04-24 11:37:19 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:19 [debug] Diagnostics for board 50:
2025-04-24 11:37:19 [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 11:37:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:24 ago, cause: software
2025-04-24 11:37:19 [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 11:37:19 [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 11:37:19 [debug] Moves scheduled 18170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:37:19 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16632, writes 0 timeouts 0
2025-04-24 11:37:19 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37176
2025-04-24 11:37:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:19 [info] currentZPosition:0.143
2025-04-24 11:37:21 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:21 [debug] Diagnostics for board 50:
2025-04-24 11:37:21 [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 11:37:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:25 ago, cause: software
2025-04-24 11:37:21 [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 11:37:21 [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 11:37:21 [debug] Moves scheduled 18174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:21 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17519, writes 0 timeouts 0
2025-04-24 11:37:21 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37175
2025-04-24 11:37:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:21 [info] currentZPosition:0.142
2025-04-24 11:37:22 [debug] Stopped at height 0.141 mm
2025-04-24 11:37:22 [debug] Diagnostics for board 50:
2025-04-24 11:37:22 [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 11:37:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:27 ago, cause: software
2025-04-24 11:37:22 [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 11:37:22 [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 11:37:22 [debug] Moves scheduled 18178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:22 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16876, writes 0 timeouts 0
2025-04-24 11:37:22 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37172
2025-04-24 11:37:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:22 [info] currentZPosition:0.141
2025-04-24 11:37:23 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:23 [debug] Diagnostics for board 50:
2025-04-24 11:37:23 [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 11:37:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:28 ago, cause: software
2025-04-24 11:37:23 [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 11:37:23 [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 11:37:23 [debug] Moves scheduled 18182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:23 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16527, writes 0 timeouts 0
2025-04-24 11:37:23 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36109/37176
2025-04-24 11:37:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:23 [info] currentZPosition:0.143
2025-04-24 11:37:24 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:25 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:25 [debug] Diagnostics for board 50:
2025-04-24 11:37:25 [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 11:37:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:30 ago, cause: software
2025-04-24 11:37:25 [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 11:37:25 [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 11:37:25 [debug] Moves scheduled 18188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 70, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:25 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min 0, mspos 680, reads 20459, writes 0 timeouts 0
2025-04-24 11:37:25 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36404/37175
2025-04-24 11:37:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:25 [info] currentZPosition:0.144
2025-04-24 11:37:25 [debug] Stopped at height 0.141 mm
2025-04-24 11:37:27 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:27 [debug] Diagnostics for board 50:
2025-04-24 11:37:27 [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 11:37:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:31 ago, cause: software
2025-04-24 11:37:27 [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 11:37:27 [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 11:37:27 [debug] Moves scheduled 18194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5859, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:27 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 21330, writes 0 timeouts 0
2025-04-24 11:37:27 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36093/37178
2025-04-24 11:37:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:27 [info] currentZPosition:0.143
2025-04-24 11:37:27 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:28 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:28 [debug] Diagnostics for board 50:
2025-04-24 11:37:28 [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 11:37:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:39:33 ago, cause: software
2025-04-24 11:37:28 [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 11:37:28 [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 11:37:28 [debug] Moves scheduled 18200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:28 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 20107, writes 0 timeouts 0
2025-04-24 11:37:28 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36400/37175
2025-04-24 11:37:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 809
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:28 [info] currentZPosition:0.144
2025-04-24 11:37:29 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:30 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:30 [debug] Diagnostics for board 50:
2025-04-24 11:37:30 [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 11:37:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:35 ago, cause: software
2025-04-24 11:37:30 [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 11:37:30 [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 11:37:30 [debug] Moves scheduled 18206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:37:30 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 21754, writes 0 timeouts 0
2025-04-24 11:37:30 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37175
2025-04-24 11:37:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:30 [info] currentZPosition:0.142
2025-04-24 11:37:31 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:31 [debug] Diagnostics for board 50:
2025-04-24 11:37:31 [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 11:37:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:36 ago, cause: software
2025-04-24 11:37:31 [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 11:37:31 [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 11:37:31 [debug] Moves scheduled 18210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 74, 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 4294931171 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 11:37:31 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16325, writes 0 timeouts 0
2025-04-24 11:37:31 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37174
2025-04-24 11:37:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:31 [info] currentZPosition:0.143
2025-04-24 11:37:33 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:33 [debug] Diagnostics for board 50:
2025-04-24 11:37:33 [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 11:37:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:38 ago, cause: software
2025-04-24 11:37:33 [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 11:37:33 [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 11:37:33 [debug] Moves scheduled 18214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:33 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17418, writes 0 timeouts 0
2025-04-24 11:37:33 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37175
2025-04-24 11:37:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:33 [info] currentZPosition:0.142
2025-04-24 11:37:34 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:34 [debug] Diagnostics for board 50:
2025-04-24 11:37:34 [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 11:37:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:39 ago, cause: software
2025-04-24 11:37:34 [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 11:37:34 [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 11:37:34 [debug] Moves scheduled 18218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:34 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16315, writes 0 timeouts 0
2025-04-24 11:37:34 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37177
2025-04-24 11:37:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:34 [info] currentZPosition:0.143
2025-04-24 11:37:35 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:35 [debug] Diagnostics for board 50:
2025-04-24 11:37:35 [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 11:37:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:39:40 ago, cause: software
2025-04-24 11:37:35 [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 11:37:35 [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 11:37:35 [debug] Moves scheduled 18222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:35 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17157, writes 0 timeouts 0
2025-04-24 11:37:35 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37178
2025-04-24 11:37:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:35 [info] currentZPosition:0.143
2025-04-24 11:37:37 [debug] Stopped at height 0.142 mm
2025-04-24 11:37:37 [debug] Diagnostics for board 50:
2025-04-24 11:37:37 [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 11:37:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:42 ago, cause: software
2025-04-24 11:37:37 [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 11:37:37 [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 11:37:37 [debug] Moves scheduled 18226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:37 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17077, writes 0 timeouts 0
2025-04-24 11:37:37 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36297/37176
2025-04-24 11:37:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:37 [info] currentZPosition:0.142
2025-04-24 11:37:37 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:38 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:38 [debug] Diagnostics for board 50:
2025-04-24 11:37:38 [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 11:37:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:43 ago, cause: software
2025-04-24 11:37:38 [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 11:37:38 [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 11:37:38 [debug] Moves scheduled 18232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:38 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20555, writes 0 timeouts 0
2025-04-24 11:37:38 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 290, adv 36108/37177
2025-04-24 11:37:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:38 [info] currentZPosition:0.144
2025-04-24 11:37:40 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:40 [debug] Diagnostics for board 50:
2025-04-24 11:37:40 [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 11:37:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:45 ago, cause: software
2025-04-24 11:37:40 [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 11:37:40 [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 11:37:40 [debug] Moves scheduled 18236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 71, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:40 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16921, writes 0 timeouts 0
2025-04-24 11:37:40 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37173
2025-04-24 11:37:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:40 [info] currentZPosition:0.143
2025-04-24 11:37:41 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:41 [debug] Diagnostics for board 50:
2025-04-24 11:37:41 [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 11:37:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:46 ago, cause: software
2025-04-24 11:37:41 [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 11:37:41 [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 11:37:41 [debug] Moves scheduled 18240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6250, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:41 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17188, writes 0 timeouts 0
2025-04-24 11:37:41 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37175
2025-04-24 11:37:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:41 [info] currentZPosition:0.143
2025-04-24 11:37:42 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:42 [debug] Diagnostics for board 50:
2025-04-24 11:37:42 [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 11:37:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:47 ago, cause: software
2025-04-24 11:37:42 [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 11:37:42 [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 11:37:42 [debug] Moves scheduled 18244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:42 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16574, writes 0 timeouts 0
2025-04-24 11:37:42 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37175
2025-04-24 11:37:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:43 [info] currentZPosition:0.143
2025-04-24 11:37:44 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:44 [debug] Diagnostics for board 50:
2025-04-24 11:37:44 [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 11:37:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:49 ago, cause: software
2025-04-24 11:37:44 [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 11:37:44 [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 11:37:44 [debug] Moves scheduled 18248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:37:44 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16966, writes 0 timeouts 0
2025-04-24 11:37:44 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36110/37177
2025-04-24 11:37:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:44 [info] currentZPosition:0.143
2025-04-24 11:37:45 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:45 [debug] Diagnostics for board 50:
2025-04-24 11:37:45 [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 11:37:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:50 ago, cause: software
2025-04-24 11:37:45 [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 11:37:45 [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 11:37:45 [debug] Moves scheduled 18252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 78, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:45 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16560, writes 0 timeouts 0
2025-04-24 11:37:45 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36164/37174
2025-04-24 11:37:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:45 [info] currentZPosition:0.143
2025-04-24 11:37:47 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:47 [debug] Diagnostics for board 50:
2025-04-24 11:37:47 [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 11:37:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:51 ago, cause: software
2025-04-24 11:37:47 [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 11:37:47 [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 11:37:47 [debug] Moves scheduled 18256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:37:47 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17375, writes 0 timeouts 0
2025-04-24 11:37:47 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37174
2025-04-24 11:37:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:47 [info] currentZPosition:0.143
2025-04-24 11:37:48 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:48 [debug] Diagnostics for board 50:
2025-04-24 11:37:48 [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 11:37:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:53 ago, cause: software
2025-04-24 11:37:48 [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 11:37:48 [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 11:37:48 [debug] Moves scheduled 18260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:48 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16473, writes 0 timeouts 0
2025-04-24 11:37:48 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37174
2025-04-24 11:37:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4558, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:48 [info] currentZPosition:0.143
2025-04-24 11:37:49 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:49 [debug] Diagnostics for board 50:
2025-04-24 11:37:49 [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 11:37:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:54 ago, cause: software
2025-04-24 11:37:49 [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 11:37:49 [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 11:37:49 [debug] Moves scheduled 18264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5681, max=18292
Sync err accum 88, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:49 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17191, writes 0 timeouts 0
2025-04-24 11:37:49 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37174
2025-04-24 11:37:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:49 [info] currentZPosition:0.143
2025-04-24 11:37:51 [debug] Stopped at height 0.143 mm
2025-04-24 11:37:51 [debug] Diagnostics for board 50:
2025-04-24 11:37:51 [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 11:37:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:55 ago, cause: software
2025-04-24 11:37:51 [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 11:37:51 [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 11:37:51 [debug] Moves scheduled 18268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933400 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:51 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16539, writes 0 timeouts 0
2025-04-24 11:37:51 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37174
2025-04-24 11:37:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:51 [info] currentZPosition:0.143
2025-04-24 11:37:52 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:52 [debug] Diagnostics for board 50:
2025-04-24 11:37:52 [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 11:37:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:57 ago, cause: software
2025-04-24 11:37:52 [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 11:37:52 [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 11:37:52 [debug] Moves scheduled 18272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 83, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:52 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16894, writes 0 timeouts 0
2025-04-24 11:37:52 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37176
2025-04-24 11:37:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:52 [info] currentZPosition:0.144
2025-04-24 11:37:53 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:53 [debug] Diagnostics for board 50:
2025-04-24 11:37:53 [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 11:37:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:58 ago, cause: software
2025-04-24 11:37:53 [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 11:37:53 [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 11:37:53 [debug] Moves scheduled 18276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 80, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:37:53 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16645, writes 0 timeouts 0
2025-04-24 11:37:53 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37177
2025-04-24 11:37:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:53 [info] currentZPosition:0.144
2025-04-24 11:37:55 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:55 [debug] Diagnostics for board 50:
2025-04-24 11:37:55 [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 11:37:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:39:59 ago, cause: software
2025-04-24 11:37:55 [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 11:37:55 [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 11:37:55 [debug] Moves scheduled 18280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:37:55 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 17321, writes 0 timeouts 0
2025-04-24 11:37:55 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37177
2025-04-24 11:37:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:55 [info] currentZPosition:0.144
2025-04-24 11:37:56 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:56 [debug] Diagnostics for board 50:
2025-04-24 11:37:56 [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 11:37:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:01 ago, cause: software
2025-04-24 11:37:56 [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 11:37:56 [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 11:37:56 [debug] Moves scheduled 18284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 66, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:56 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16581, writes 0 timeouts 0
2025-04-24 11:37:56 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37176
2025-04-24 11:37:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:56 [info] currentZPosition:0.144
2025-04-24 11:37:57 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:57 [debug] Diagnostics for board 50:
2025-04-24 11:37:57 [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 11:37:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:02 ago, cause: software
2025-04-24 11:37:57 [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 11:37:57 [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 11:37:57 [debug] Moves scheduled 18288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 67, peak jitter -2/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:37:57 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17242, writes 0 timeouts 0
2025-04-24 11:37:57 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37177
2025-04-24 11:37:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:57 [info] currentZPosition:0.144
2025-04-24 11:37:59 [debug] Stopped at height 0.144 mm
2025-04-24 11:37:59 [debug] Diagnostics for board 50:
2025-04-24 11:37:59 [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 11:37:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:03 ago, cause: software
2025-04-24 11:37:59 [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 11:37:59 [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 11:37:59 [debug] Moves scheduled 18292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 77, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:37:59 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16497, writes 0 timeouts 0
2025-04-24 11:37:59 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37171
2025-04-24 11:37:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:37:59 [info] currentZPosition:0.144
2025-04-24 11:38:00 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:00 [debug] Diagnostics for board 50:
2025-04-24 11:38:00 [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 11:38:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:05 ago, cause: software
2025-04-24 11:38:00 [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 11:38:00 [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 11:38:00 [debug] Moves scheduled 18296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:00 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17531, writes 0 timeouts 0
2025-04-24 11:38:00 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37170
2025-04-24 11:38:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:00 [info] currentZPosition:0.143
2025-04-24 11:38:01 [debug] Stopped at height 0.142 mm
2025-04-24 11:38:01 [debug] Diagnostics for board 50:
2025-04-24 11:38:01 [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 11:38:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:06 ago, cause: software
2025-04-24 11:38:01 [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 11:38:01 [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 11:38:01 [debug] Moves scheduled 18300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 96, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:01 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16979, writes 0 timeouts 0
2025-04-24 11:38:01 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36158/37173
2025-04-24 11:38:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:01 [info] currentZPosition:0.142
2025-04-24 11:38:03 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:03 [debug] Diagnostics for board 50:
2025-04-24 11:38:03 [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 11:38:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:08 ago, cause: software
2025-04-24 11:38:03 [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 11:38:03 [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 11:38:03 [debug] Moves scheduled 18304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:03 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16579, writes 0 timeouts 0
2025-04-24 11:38:03 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37170
2025-04-24 11:38:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:03 [info] currentZPosition:0.144
2025-04-24 11:38:03 [debug] Stopped at height 0.142 mm
2025-04-24 11:38:04 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:04 [debug] Diagnostics for board 50:
2025-04-24 11:38:04 [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 11:38:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:09 ago, cause: software
2025-04-24 11:38:04 [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 11:38:04 [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 11:38:04 [debug] Moves scheduled 18310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:04 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20702, writes 0 timeouts 0
2025-04-24 11:38:04 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37175
2025-04-24 11:38:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:04 [info] currentZPosition:0.143
2025-04-24 11:38:06 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:06 [debug] Diagnostics for board 50:
2025-04-24 11:38:06 [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 11:38:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:11 ago, cause: software
2025-04-24 11:38:06 [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 11:38:06 [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 11:38:06 [debug] Moves scheduled 18314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 107, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:38:06 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16962, writes 0 timeouts 0
2025-04-24 11:38:06 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36113/37176
2025-04-24 11:38:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:06 [info] currentZPosition:0.144
2025-04-24 11:38:07 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:07 [debug] Diagnostics for board 50:
2025-04-24 11:38:07 [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 11:38:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:12 ago, cause: software
2025-04-24 11:38:07 [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 11:38:07 [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 11:38:07 [debug] Moves scheduled 18318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 107, peak jitter 0/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:07 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16682, writes 0 timeouts 0
2025-04-24 11:38:07 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36166/37173
2025-04-24 11:38:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:07 [info] currentZPosition:0.143
2025-04-24 11:38:08 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:08 [debug] Diagnostics for board 50:
2025-04-24 11:38:08 [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 11:38:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:13 ago, cause: software
2025-04-24 11:38:08 [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 11:38:08 [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 11:38:08 [debug] Moves scheduled 18322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 102, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:38:08 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17071, writes 0 timeouts 0
2025-04-24 11:38:08 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37175
2025-04-24 11:38:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:09 [info] currentZPosition:0.144
2025-04-24 11:38:10 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:10 [debug] Diagnostics for board 50:
2025-04-24 11:38:10 [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 11:38:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:15 ago, cause: software
2025-04-24 11:38:10 [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 11:38:10 [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 11:38:10 [debug] Moves scheduled 18326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=18292
Sync err accum 95, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:10 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16405, writes 0 timeouts 0
2025-04-24 11:38:10 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37177
2025-04-24 11:38:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:10 [info] currentZPosition:0.144
2025-04-24 11:38:11 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:11 [debug] Diagnostics for board 50:
2025-04-24 11:38:11 [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 11:38:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:16 ago, cause: software
2025-04-24 11:38:11 [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 11:38:11 [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 11:38:11 [debug] Moves scheduled 18330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=81, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:38:11 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17459, writes 0 timeouts 0
2025-04-24 11:38:11 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37172
2025-04-24 11:38:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:11 [info] currentZPosition:0.143
2025-04-24 11:38:13 [debug] Stopped at height 0.142 mm
2025-04-24 11:38:13 [debug] Diagnostics for board 50:
2025-04-24 11:38:13 [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 11:38:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:40:17 ago, cause: software
2025-04-24 11:38:13 [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 11:38:13 [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 11:38:13 [debug] Moves scheduled 18334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 72, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:13 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17008, writes 0 timeouts 0
2025-04-24 11:38:13 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36156/37173
2025-04-24 11:38:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:13 [info] currentZPosition:0.142
2025-04-24 11:38:13 [debug] Stopped at height 0.142 mm
2025-04-24 11:38:14 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:14 [debug] Diagnostics for board 50:
2025-04-24 11:38:14 [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 11:38:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:19 ago, cause: software
2025-04-24 11:38:14 [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 11:38:14 [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 11:38:14 [debug] Moves scheduled 18340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 61, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:14 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20863, writes 0 timeouts 0
2025-04-24 11:38:14 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37176
2025-04-24 11:38:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:14 [info] currentZPosition:0.143
2025-04-24 11:38:16 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:16 [debug] Diagnostics for board 50:
2025-04-24 11:38:16 [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 11:38:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:20 ago, cause: software
2025-04-24 11:38:16 [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 11:38:16 [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 11:38:16 [debug] Moves scheduled 18344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294937261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:16 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16276, writes 0 timeouts 0
2025-04-24 11:38:16 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36164/37174
2025-04-24 11:38:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:16 [info] currentZPosition:0.143
2025-04-24 11:38:17 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:17 [debug] Diagnostics for board 50:
2025-04-24 11:38:17 [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 11:38:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:22 ago, cause: software
2025-04-24 11:38:17 [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 11:38:17 [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 11:38:17 [debug] Moves scheduled 18348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 78, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:17 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17117, writes 0 timeouts 0
2025-04-24 11:38:17 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37172
2025-04-24 11:38:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:17 [info] currentZPosition:0.143
2025-04-24 11:38:18 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:18 [debug] Diagnostics for board 50:
2025-04-24 11:38:18 [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 11:38:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:23 ago, cause: software
2025-04-24 11:38:18 [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 11:38:18 [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 11:38:18 [debug] Moves scheduled 18352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:18 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16479, writes 0 timeouts 0
2025-04-24 11:38:18 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37174
2025-04-24 11:38:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:18 [info] currentZPosition:0.144
2025-04-24 11:38:20 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:20 [debug] Diagnostics for board 50:
2025-04-24 11:38:20 [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 11:38:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:24 ago, cause: software
2025-04-24 11:38:20 [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 11:38:20 [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 11:38:20 [debug] Moves scheduled 18356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:20 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 17009, writes 0 timeouts 0
2025-04-24 11:38:20 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37174
2025-04-24 11:38:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:20 [info] currentZPosition:0.144
2025-04-24 11:38:21 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:21 [debug] Diagnostics for board 50:
2025-04-24 11:38:21 [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 11:38:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:26 ago, cause: software
2025-04-24 11:38:21 [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 11:38:21 [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 11:38:21 [debug] Moves scheduled 18360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294937211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:21 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16675, writes 0 timeouts 0
2025-04-24 11:38:21 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37171
2025-04-24 11:38:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:21 [info] currentZPosition:0.144
2025-04-24 11:38:22 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:22 [debug] Diagnostics for board 50:
2025-04-24 11:38:22 [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 11:38:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:27 ago, cause: software
2025-04-24 11:38:22 [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 11:38:22 [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 11:38:22 [debug] Moves scheduled 18364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:22 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17518, writes 0 timeouts 0
2025-04-24 11:38:22 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 11:38:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:22 [info] currentZPosition:0.143
2025-04-24 11:38:24 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:24 [debug] Diagnostics for board 50:
2025-04-24 11:38:24 [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 11:38:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:28 ago, cause: software
2025-04-24 11:38:24 [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 11:38:24 [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 11:38:24 [debug] Moves scheduled 18368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 88, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:24 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16756, writes 0 timeouts 0
2025-04-24 11:38:24 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37177
2025-04-24 11:38:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:24 [info] currentZPosition:0.143
2025-04-24 11:38:25 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:25 [debug] Diagnostics for board 50:
2025-04-24 11:38:25 [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 11:38:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:30 ago, cause: software
2025-04-24 11:38:25 [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 11:38:25 [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 11:38:25 [debug] Moves scheduled 18372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 82, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:25 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16837, writes 0 timeouts 0
2025-04-24 11:38:25 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 11:38:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:25 [info] currentZPosition:0.144
2025-04-24 11:38:26 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:26 [debug] Diagnostics for board 50:
2025-04-24 11:38:26 [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 11:38:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:31 ago, cause: software
2025-04-24 11:38:26 [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 11:38:26 [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 11:38:26 [debug] Moves scheduled 18376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:38:26 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16748, writes 0 timeouts 0
2025-04-24 11:38:26 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36153/37177
2025-04-24 11:38:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:26 [info] currentZPosition:0.143
2025-04-24 11:38:28 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:28 [debug] Diagnostics for board 50:
2025-04-24 11:38:28 [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 11:38:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:33 ago, cause: software
2025-04-24 11:38:28 [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 11:38:28 [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 11:38:28 [debug] Moves scheduled 18380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 65, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:28 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16997, writes 0 timeouts 0
2025-04-24 11:38:28 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37176
2025-04-24 11:38:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:28 [info] currentZPosition:0.144
2025-04-24 11:38:29 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:29 [debug] Diagnostics for board 50:
2025-04-24 11:38:29 [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 11:38:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:34 ago, cause: software
2025-04-24 11:38:29 [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 11:38:29 [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 11:38:29 [debug] Moves scheduled 18384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=18292
Sync err accum 68, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:29 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16997, writes 0 timeouts 0
2025-04-24 11:38:29 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37178
2025-04-24 11:38:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:29 [info] currentZPosition:0.143
2025-04-24 11:38:29 [debug] Stopped at height 0.145 mm
2025-04-24 11:38:31 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:31 [debug] Diagnostics for board 50:
2025-04-24 11:38:31 [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 11:38:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:36 ago, cause: software
2025-04-24 11:38:31 [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 11:38:31 [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 11:38:31 [debug] Moves scheduled 18390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6147, max=17045
Sync err accum 83, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:31 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20758, writes 0 timeouts 0
2025-04-24 11:38:31 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36101/37174
2025-04-24 11:38:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:31 [info] currentZPosition:0.144
2025-04-24 11:38:31 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:32 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:32 [debug] Diagnostics for board 50:
2025-04-24 11:38:32 [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 11:38:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:37 ago, cause: software
2025-04-24 11:38:32 [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 11:38:32 [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 11:38:32 [debug] Moves scheduled 18396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6696, max=17857
Sync err accum 94, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:32 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 20658, writes 0 timeouts 0
2025-04-24 11:38:32 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36276/37173
2025-04-24 11:38:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:32 [info] currentZPosition:0.143
2025-04-24 11:38:34 [debug] Stopped at height 0.145 mm
2025-04-24 11:38:34 [debug] Diagnostics for board 50:
2025-04-24 11:38:34 [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 11:38:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:39 ago, cause: software
2025-04-24 11:38:34 [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 11:38:34 [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 11:38:34 [debug] Moves scheduled 18400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 102, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:34 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 16694, writes 0 timeouts 0
2025-04-24 11:38:34 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37174
2025-04-24 11:38:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:34 [info] currentZPosition:0.145
2025-04-24 11:38:34 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:35 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:35 [debug] Diagnostics for board 50:
2025-04-24 11:38:35 [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 11:38:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:40 ago, cause: software
2025-04-24 11:38:35 [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 11:38:35 [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 11:38:35 [debug] Moves scheduled 18406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:35 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 20944, writes 0 timeouts 0
2025-04-24 11:38:35 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37173
2025-04-24 11:38:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:35 [info] currentZPosition:0.144
2025-04-24 11:38:37 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:37 [debug] Diagnostics for board 50:
2025-04-24 11:38:37 [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 11:38:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:40:42 ago, cause: software
2025-04-24 11:38:37 [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 11:38:37 [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 11:38:37 [debug] Moves scheduled 18410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:37 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17299, writes 0 timeouts 0
2025-04-24 11:38:37 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 297, adv 36104/37174
2025-04-24 11:38:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:37 [info] currentZPosition:0.143
2025-04-24 11:38:38 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:38 [debug] Diagnostics for board 50:
2025-04-24 11:38:38 [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 11:38:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:43 ago, cause: software
2025-04-24 11:38:38 [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 11:38:38 [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 11:38:38 [debug] Moves scheduled 18414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7075, max=17857
Sync err accum 109, peak jitter 0/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:38 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16447, writes 0 timeouts 0
2025-04-24 11:38:38 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37176
2025-04-24 11:38:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:38 [info] currentZPosition:0.144
2025-04-24 11:38:39 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:39 [debug] Diagnostics for board 50:
2025-04-24 11:38:39 [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 11:38:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:44 ago, cause: software
2025-04-24 11:38:39 [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 11:38:39 [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 11:38:39 [debug] Moves scheduled 18418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=503, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:39 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17318, writes 11 timeouts 1
2025-04-24 11:38:39 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37176
2025-04-24 11:38:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:40 [info] currentZPosition:0.143
2025-04-24 11:38:41 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:41 [debug] Diagnostics for board 50:
2025-04-24 11:38:41 [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 11:38:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:40:46 ago, cause: software
2025-04-24 11:38:41 [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 11:38:41 [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 11:38:41 [debug] Moves scheduled 18422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7009, max=17045
Sync err accum 103, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:41 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16447, writes 0 timeouts 0
2025-04-24 11:38:41 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36379/37175
2025-04-24 11:38:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:41 [info] currentZPosition:0.144
2025-04-24 11:38:42 [debug] Stopped at height 0.145 mm
2025-04-24 11:38:42 [debug] Diagnostics for board 50:
2025-04-24 11:38:42 [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 11:38:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:47 ago, cause: software
2025-04-24 11:38:42 [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 11:38:42 [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 11:38:42 [debug] Moves scheduled 18426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:42 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16864, writes 0 timeouts 0
2025-04-24 11:38:42 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36113/37176
2025-04-24 11:38:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:42 [info] currentZPosition:0.145
2025-04-24 11:38:43 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:43 [debug] Diagnostics for board 50:
2025-04-24 11:38:43 [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 11:38:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:48 ago, cause: software
2025-04-24 11:38:43 [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 11:38:43 [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 11:38:43 [debug] Moves scheduled 18430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 89, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:38:43 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16954, writes 0 timeouts 0
2025-04-24 11:38:43 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36407/37178
2025-04-24 11:38:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:44 [info] currentZPosition:0.144
2025-04-24 11:38:45 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:45 [debug] Diagnostics for board 50:
2025-04-24 11:38:45 [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 11:38:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:50 ago, cause: software
2025-04-24 11:38:45 [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 11:38:45 [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 11:38:45 [debug] Moves scheduled 18434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 78, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:45 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17285, writes 0 timeouts 0
2025-04-24 11:38:45 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37176
2025-04-24 11:38:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:45 [info] currentZPosition:0.144
2025-04-24 11:38:46 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:46 [debug] Diagnostics for board 50:
2025-04-24 11:38:46 [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 11:38:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:51 ago, cause: software
2025-04-24 11:38:46 [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 11:38:46 [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 11:38:46 [debug] Moves scheduled 18438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 65, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:38:46 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16358, writes 0 timeouts 0
2025-04-24 11:38:46 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37178
2025-04-24 11:38:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:46 [info] currentZPosition:0.144
2025-04-24 11:38:48 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:48 [debug] Diagnostics for board 50:
2025-04-24 11:38:48 [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 11:38:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:52 ago, cause: software
2025-04-24 11:38:48 [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 11:38:48 [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 11:38:48 [debug] Moves scheduled 18442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6756, max=17045
Sync err accum 67, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:48 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17434, writes 0 timeouts 0
2025-04-24 11:38:48 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37176
2025-04-24 11:38:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:48 [info] currentZPosition:0.143
2025-04-24 11:38:49 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:49 [debug] Diagnostics for board 50:
2025-04-24 11:38:49 [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 11:38:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:54 ago, cause: software
2025-04-24 11:38:49 [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 11:38:49 [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 11:38:49 [debug] Moves scheduled 18446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 77, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:49 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16251, writes 0 timeouts 0
2025-04-24 11:38:49 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37170
2025-04-24 11:38:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:49 [info] currentZPosition:0.144
2025-04-24 11:38:49 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:51 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:51 [debug] Diagnostics for board 50:
2025-04-24 11:38:51 [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 11:38:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:55 ago, cause: software
2025-04-24 11:38:51 [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 11:38:51 [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 11:38:51 [debug] Moves scheduled 18452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294934845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:51 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 21049, writes 0 timeouts 0
2025-04-24 11:38:51 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37174
2025-04-24 11:38:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:51 [info] currentZPosition:0.144
2025-04-24 11:38:52 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:52 [debug] Diagnostics for board 50:
2025-04-24 11:38:52 [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 11:38:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:57 ago, cause: software
2025-04-24 11:38:52 [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 11:38:52 [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 11:38:52 [debug] Moves scheduled 18456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 84, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:52 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16848, writes 0 timeouts 0
2025-04-24 11:38:52 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37173
2025-04-24 11:38:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:52 [info] currentZPosition:0.144
2025-04-24 11:38:53 [debug] Stopped at height 0.145 mm
2025-04-24 11:38:53 [debug] Diagnostics for board 50:
2025-04-24 11:38:53 [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 11:38:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:58 ago, cause: software
2025-04-24 11:38:53 [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 11:38:53 [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 11:38:53 [debug] Moves scheduled 18460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 86, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:38:53 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16870, writes 0 timeouts 0
2025-04-24 11:38:53 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 11:38:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:53 [info] currentZPosition:0.145
2025-04-24 11:38:55 [debug] Stopped at height 0.143 mm
2025-04-24 11:38:55 [debug] Diagnostics for board 50:
2025-04-24 11:38:55 [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 11:38:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:40:59 ago, cause: software
2025-04-24 11:38:55 [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 11:38:55 [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 11:38:55 [debug] Moves scheduled 18464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 88, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:55 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17298, writes 0 timeouts 0
2025-04-24 11:38:55 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37176
2025-04-24 11:38:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:55 [info] currentZPosition:0.143
2025-04-24 11:38:55 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:56 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:56 [debug] Diagnostics for board 50:
2025-04-24 11:38:56 [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 11:38:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:01 ago, cause: software
2025-04-24 11:38:56 [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 11:38:56 [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 11:38:56 [debug] Moves scheduled 18470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 85, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:38:56 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20664, writes 0 timeouts 0
2025-04-24 11:38:56 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36108/37176
2025-04-24 11:38:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:56 [info] currentZPosition:0.144
2025-04-24 11:38:58 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:58 [debug] Diagnostics for board 50:
2025-04-24 11:38:58 [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 11:38:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:02 ago, cause: software
2025-04-24 11:38:58 [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 11:38:58 [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 11:38:58 [debug] Moves scheduled 18474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:58 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16604, writes 0 timeouts 0
2025-04-24 11:38:58 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37178
2025-04-24 11:38:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:58 [info] currentZPosition:0.144
2025-04-24 11:38:59 [debug] Stopped at height 0.144 mm
2025-04-24 11:38:59 [debug] Diagnostics for board 50:
2025-04-24 11:38:59 [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 11:38:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:04 ago, cause: software
2025-04-24 11:38:59 [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 11:38:59 [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 11:38:59 [debug] Moves scheduled 18478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=18292
Sync err accum 72, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:38:59 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17226, writes 0 timeouts 0
2025-04-24 11:38:59 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36102/37176
2025-04-24 11:38:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:38:59 [info] currentZPosition:0.144
2025-04-24 11:39:00 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:00 [debug] Diagnostics for board 50:
2025-04-24 11:39:00 [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 11:39:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:05 ago, cause: software
2025-04-24 11:39:00 [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 11:39:00 [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 11:39:00 [debug] Moves scheduled 18482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17441
Sync err accum 63, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:00 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16826, writes 0 timeouts 0
2025-04-24 11:39:00 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36397/37175
2025-04-24 11:39:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:00 [info] currentZPosition:0.143
2025-04-24 11:39:02 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:02 [debug] Diagnostics for board 50:
2025-04-24 11:39:02 [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 11:39:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:41:07 ago, cause: software
2025-04-24 11:39:02 [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 11:39:02 [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 11:39:02 [debug] Moves scheduled 18486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 65, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:02 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17293, writes 0 timeouts 0
2025-04-24 11:39:02 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37173
2025-04-24 11:39:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:02 [info] currentZPosition:0.143
2025-04-24 11:39:03 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:03 [debug] Diagnostics for board 50:
2025-04-24 11:39:03 [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 11:39:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:08 ago, cause: software
2025-04-24 11:39:03 [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 11:39:03 [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 11:39:03 [debug] Moves scheduled 18490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 67, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:03 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16114, writes 0 timeouts 0
2025-04-24 11:39:03 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37176
2025-04-24 11:39:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:03 [info] currentZPosition:0.145
2025-04-24 11:39:03 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:05 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:05 [debug] Diagnostics for board 50:
2025-04-24 11:39:05 [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 11:39:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:10 ago, cause: software
2025-04-24 11:39:05 [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 11:39:05 [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 11:39:05 [debug] Moves scheduled 18496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:05 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21652, writes 0 timeouts 0
2025-04-24 11:39:05 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36095/37176
2025-04-24 11:39:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:05 [info] currentZPosition:0.143
2025-04-24 11:39:06 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:06 [debug] Diagnostics for board 50:
2025-04-24 11:39:06 [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 11:39:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:11 ago, cause: software
2025-04-24 11:39:06 [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 11:39:06 [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 11:39:06 [debug] Moves scheduled 18500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 63, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:06 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16312, writes 0 timeouts 0
2025-04-24 11:39:06 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37169
2025-04-24 11:39:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:06 [info] currentZPosition:0.144
2025-04-24 11:39:07 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:07 [debug] Diagnostics for board 50:
2025-04-24 11:39:07 [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 11:39:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:12 ago, cause: software
2025-04-24 11:39:07 [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 11:39:07 [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 11:39:07 [debug] Moves scheduled 18504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:07 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17309, writes 0 timeouts 0
2025-04-24 11:39:07 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36093/37170
2025-04-24 11:39:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:08 [info] currentZPosition:0.143
2025-04-24 11:39:09 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:09 [debug] Diagnostics for board 50:
2025-04-24 11:39:09 [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 11:39:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:14 ago, cause: software
2025-04-24 11:39:09 [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 11:39:09 [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 11:39:09 [debug] Moves scheduled 18508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:09 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16504, writes 0 timeouts 0
2025-04-24 11:39:09 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36402/37171
2025-04-24 11:39:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:09 [info] currentZPosition:0.143
2025-04-24 11:39:10 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:10 [debug] Diagnostics for board 50:
2025-04-24 11:39:10 [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 11:39:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:15 ago, cause: software
2025-04-24 11:39:10 [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 11:39:10 [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 11:39:10 [debug] Moves scheduled 18512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 89, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:10 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17301, writes 0 timeouts 0
2025-04-24 11:39:10 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 11:39:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:10 [info] currentZPosition:0.143
2025-04-24 11:39:11 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:11 [debug] Diagnostics for board 50:
2025-04-24 11:39:11 [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 11:39:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:16 ago, cause: software
2025-04-24 11:39:11 [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 11:39:11 [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 11:39:11 [debug] Moves scheduled 18516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6198, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:11 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16441, writes 0 timeouts 0
2025-04-24 11:39:11 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36396/37171
2025-04-24 11:39:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:12 [info] currentZPosition:0.144
2025-04-24 11:39:13 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:13 [debug] Diagnostics for board 50:
2025-04-24 11:39:13 [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 11:39:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:18 ago, cause: software
2025-04-24 11:39:13 [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 11:39:13 [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 11:39:13 [debug] Moves scheduled 18520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 101, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:13 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16975, writes 0 timeouts 0
2025-04-24 11:39:13 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37176
2025-04-24 11:39:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:13 [info] currentZPosition:0.144
2025-04-24 11:39:14 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:14 [debug] Diagnostics for board 50:
2025-04-24 11:39:14 [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 11:39:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:19 ago, cause: software
2025-04-24 11:39:14 [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 11:39:14 [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 11:39:14 [debug] Moves scheduled 18524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 101, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:14 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16411, writes 0 timeouts 0
2025-04-24 11:39:14 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37176
2025-04-24 11:39:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:14 [info] currentZPosition:0.145
2025-04-24 11:39:16 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:16 [debug] Diagnostics for board 50:
2025-04-24 11:39:16 [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 11:39:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:20 ago, cause: software
2025-04-24 11:39:16 [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 11:39:16 [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 11:39:16 [debug] Moves scheduled 18528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 100, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294926576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:16 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17558, writes 0 timeouts 0
2025-04-24 11:39:16 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37176
2025-04-24 11:39:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:16 [info] currentZPosition:0.144
2025-04-24 11:39:17 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:17 [debug] Diagnostics for board 50:
2025-04-24 11:39:17 [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 11:39:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:22 ago, cause: software
2025-04-24 11:39:17 [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 11:39:17 [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 11:39:17 [debug] Moves scheduled 18532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 97, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:17 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16797, writes 0 timeouts 0
2025-04-24 11:39:17 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37174
2025-04-24 11:39:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:17 [info] currentZPosition:0.143
2025-04-24 11:39:18 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:18 [debug] Diagnostics for board 50:
2025-04-24 11:39:18 [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 11:39:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:23 ago, cause: software
2025-04-24 11:39:18 [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 11:39:18 [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 11:39:18 [debug] Moves scheduled 18536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6048, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:39:18 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 16409, writes 0 timeouts 0
2025-04-24 11:39:18 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37175
2025-04-24 11:39:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 810
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:18 [info] currentZPosition:0.146
2025-04-24 11:39:19 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:20 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:20 [debug] Diagnostics for board 50:
2025-04-24 11:39:20 [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 11:39:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:25 ago, cause: software
2025-04-24 11:39:20 [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 11:39:20 [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 11:39:20 [debug] Moves scheduled 18542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17857
Sync err accum 84, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:20 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 20818, writes 0 timeouts 0
2025-04-24 11:39:20 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37175
2025-04-24 11:39:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:20 [info] currentZPosition:0.145
2025-04-24 11:39:21 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:21 [debug] Diagnostics for board 50:
2025-04-24 11:39:21 [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 11:39:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:26 ago, cause: software
2025-04-24 11:39:21 [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 11:39:21 [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 11:39:21 [debug] Moves scheduled 18546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6465, max=17045
Sync err accum 70, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:39:21 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17200, writes 0 timeouts 0
2025-04-24 11:39:21 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37174
2025-04-24 11:39:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:21 [info] currentZPosition:0.145
2025-04-24 11:39:23 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:23 [debug] Diagnostics for board 50:
2025-04-24 11:39:23 [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 11:39:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:27 ago, cause: software
2025-04-24 11:39:23 [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 11:39:23 [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 11:39:23 [debug] Moves scheduled 18550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7009, max=17857
Sync err accum 63, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:39:23 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16836, writes 0 timeouts 0
2025-04-24 11:39:23 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37176
2025-04-24 11:39:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:23 [info] currentZPosition:0.144
2025-04-24 11:39:24 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:24 [debug] Diagnostics for board 50:
2025-04-24 11:39:24 [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 11:39:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:29 ago, cause: software
2025-04-24 11:39:24 [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 11:39:24 [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 11:39:24 [debug] Moves scheduled 18554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:24 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16901, writes 0 timeouts 0
2025-04-24 11:39:24 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37175
2025-04-24 11:39:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:24 [info] currentZPosition:0.145
2025-04-24 11:39:25 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:25 [debug] Diagnostics for board 50:
2025-04-24 11:39:25 [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 11:39:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:30 ago, cause: software
2025-04-24 11:39:25 [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 11:39:25 [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 11:39:25 [debug] Moves scheduled 18558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:25 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16548, writes 0 timeouts 0
2025-04-24 11:39:25 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36270/37173
2025-04-24 11:39:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:25 [info] currentZPosition:0.145
2025-04-24 11:39:27 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:27 [debug] Diagnostics for board 50:
2025-04-24 11:39:27 [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 11:39:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:32 ago, cause: software
2025-04-24 11:39:27 [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 11:39:27 [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 11:39:27 [debug] Moves scheduled 18562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:27 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17830, writes 0 timeouts 0
2025-04-24 11:39:27 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37170
2025-04-24 11:39:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:27 [info] currentZPosition:0.143
2025-04-24 11:39:27 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:28 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:28 [debug] Diagnostics for board 50:
2025-04-24 11:39:28 [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 11:39:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:33 ago, cause: software
2025-04-24 11:39:28 [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 11:39:28 [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 11:39:28 [debug] Moves scheduled 18568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 70, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:28 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20347, writes 0 timeouts 0
2025-04-24 11:39:28 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36164/37176
2025-04-24 11:39:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:28 [info] currentZPosition:0.143
2025-04-24 11:39:29 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:30 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:30 [debug] Diagnostics for board 50:
2025-04-24 11:39:30 [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 11:39:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:35 ago, cause: software
2025-04-24 11:39:30 [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 11:39:30 [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 11:39:30 [debug] Moves scheduled 18574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17441
Sync err accum 67, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:30 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20705, writes 0 timeouts 0
2025-04-24 11:39:30 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37176
2025-04-24 11:39:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:30 [info] currentZPosition:0.145
2025-04-24 11:39:30 [debug] Stopped at height 0.143 mm
2025-04-24 11:39:32 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:32 [debug] Diagnostics for board 50:
2025-04-24 11:39:32 [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 11:39:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:36 ago, cause: software
2025-04-24 11:39:32 [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 11:39:32 [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 11:39:32 [debug] Moves scheduled 18580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:32 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 20277, writes 0 timeouts 0
2025-04-24 11:39:32 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37174
2025-04-24 11:39:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:32 [info] currentZPosition:0.145
2025-04-24 11:39:32 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:33 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:33 [debug] Diagnostics for board 50:
2025-04-24 11:39:33 [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 11:39:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:38 ago, cause: software
2025-04-24 11:39:33 [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 11:39:33 [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 11:39:33 [debug] Moves scheduled 18586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:33 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 21266, writes 0 timeouts 0
2025-04-24 11:39:33 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36097/37175
2025-04-24 11:39:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:33 [info] currentZPosition:0.144
2025-04-24 11:39:35 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:35 [debug] Diagnostics for board 50:
2025-04-24 11:39:35 [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 11:39:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:39 ago, cause: software
2025-04-24 11:39:35 [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 11:39:35 [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 11:39:35 [debug] Moves scheduled 18590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:35 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16580, writes 0 timeouts 0
2025-04-24 11:39:35 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37175
2025-04-24 11:39:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:35 [info] currentZPosition:0.144
2025-04-24 11:39:36 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:36 [debug] Diagnostics for board 50:
2025-04-24 11:39:36 [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 11:39:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:41 ago, cause: software
2025-04-24 11:39:36 [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 11:39:36 [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 11:39:36 [debug] Moves scheduled 18594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:36 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16677, writes 0 timeouts 0
2025-04-24 11:39:36 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37173
2025-04-24 11:39:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:36 [info] currentZPosition:0.146
2025-04-24 11:39:36 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:38 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:38 [debug] Diagnostics for board 50:
2025-04-24 11:39:38 [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 11:39:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:42 ago, cause: software
2025-04-24 11:39:38 [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 11:39:38 [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 11:39:38 [debug] Moves scheduled 18600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 94, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:38 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 20444, writes 0 timeouts 0
2025-04-24 11:39:38 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36161/37173
2025-04-24 11:39:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:38 [info] currentZPosition:0.146
2025-04-24 11:39:38 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:39 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:39 [debug] Diagnostics for board 50:
2025-04-24 11:39:39 [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 11:39:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:44 ago, cause: software
2025-04-24 11:39:39 [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 11:39:39 [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 11:39:39 [debug] Moves scheduled 18606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17441
Sync err accum 94, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:39 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 21291, writes 0 timeouts 0
2025-04-24 11:39:39 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36102/37177
2025-04-24 11:39:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:39 [info] currentZPosition:0.145
2025-04-24 11:39:41 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:41 [debug] Diagnostics for board 50:
2025-04-24 11:39:41 [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 11:39:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:45 ago, cause: software
2025-04-24 11:39:41 [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 11:39:41 [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 11:39:41 [debug] Moves scheduled 18610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 95, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:41 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16845, writes 0 timeouts 0
2025-04-24 11:39:41 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37173
2025-04-24 11:39:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:41 [info] currentZPosition:0.144
2025-04-24 11:39:42 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:42 [debug] Diagnostics for board 50:
2025-04-24 11:39:42 [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 11:39:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:47 ago, cause: software
2025-04-24 11:39:42 [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 11:39:42 [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 11:39:42 [debug] Moves scheduled 18614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17857
Sync err accum 93, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:42 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17072, writes 0 timeouts 0
2025-04-24 11:39:42 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37177
2025-04-24 11:39:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:42 [info] currentZPosition:0.145
2025-04-24 11:39:43 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:43 [debug] Diagnostics for board 50:
2025-04-24 11:39:43 [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 11:39:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:48 ago, cause: software
2025-04-24 11:39:43 [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 11:39:43 [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 11:39:43 [debug] Moves scheduled 18618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:43 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16623, writes 0 timeouts 0
2025-04-24 11:39:43 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37175
2025-04-24 11:39:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:43 [info] currentZPosition:0.145
2025-04-24 11:39:45 [debug] Stopped at height 0.144 mm
2025-04-24 11:39:45 [debug] Diagnostics for board 50:
2025-04-24 11:39:45 [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 11:39:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:50 ago, cause: software
2025-04-24 11:39:45 [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 11:39:45 [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 11:39:45 [debug] Moves scheduled 18622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 80, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:45 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17361, writes 0 timeouts 0
2025-04-24 11:39:45 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36098/37177
2025-04-24 11:39:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:45 [info] currentZPosition:0.144
2025-04-24 11:39:46 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:46 [debug] Diagnostics for board 50:
2025-04-24 11:39:46 [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 11:39:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:51 ago, cause: software
2025-04-24 11:39:46 [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 11:39:46 [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 11:39:46 [debug] Moves scheduled 18626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:46 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16098, writes 0 timeouts 0
2025-04-24 11:39:46 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36065/37177
2025-04-24 11:39:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:46 [info] currentZPosition:0.146
2025-04-24 11:39:46 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:48 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:48 [debug] Diagnostics for board 50:
2025-04-24 11:39:48 [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 11:39:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:53 ago, cause: software
2025-04-24 11:39:48 [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 11:39:48 [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 11:39:48 [debug] Moves scheduled 18632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:48 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 21073, writes 0 timeouts 0
2025-04-24 11:39:48 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36100/37173
2025-04-24 11:39:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:48 [info] currentZPosition:0.146
2025-04-24 11:39:49 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:49 [debug] Diagnostics for board 50:
2025-04-24 11:39:49 [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 11:39:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:54 ago, cause: software
2025-04-24 11:39:49 [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 11:39:49 [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 11:39:49 [debug] Moves scheduled 18636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 77, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:49 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16838, writes 0 timeouts 0
2025-04-24 11:39:49 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36164/37171
2025-04-24 11:39:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:49 [info] currentZPosition:0.145
2025-04-24 11:39:50 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:50 [debug] Diagnostics for board 50:
2025-04-24 11:39:50 [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 11:39:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:55 ago, cause: software
2025-04-24 11:39:50 [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 11:39:50 [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 11:39:50 [debug] Moves scheduled 18640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6465, max=17045
Sync err accum 87, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294928477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:50 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17153, writes 0 timeouts 0
2025-04-24 11:39:50 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37172
2025-04-24 11:39:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:51 [info] currentZPosition:0.145
2025-04-24 11:39:52 [debug] Stopped at height 0.146 mm
2025-04-24 11:39:52 [debug] Diagnostics for board 50:
2025-04-24 11:39:52 [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 11:39:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:57 ago, cause: software
2025-04-24 11:39:52 [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 11:39:52 [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 11:39:52 [debug] Moves scheduled 18644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 93, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:39:52 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16500, writes 0 timeouts 0
2025-04-24 11:39:52 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36161/37172
2025-04-24 11:39:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:52 [info] currentZPosition:0.146
2025-04-24 11:39:53 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:53 [debug] Diagnostics for board 50:
2025-04-24 11:39:53 [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 11:39:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:58 ago, cause: software
2025-04-24 11:39:53 [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 11:39:53 [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 11:39:53 [debug] Moves scheduled 18648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 100, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:39:53 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 17215, writes 0 timeouts 0
2025-04-24 11:39:53 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37175
2025-04-24 11:39:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:53 [info] currentZPosition:0.145
2025-04-24 11:39:54 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:54 [debug] Diagnostics for board 50:
2025-04-24 11:39:54 [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 11:39:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:41:59 ago, cause: software
2025-04-24 11:39:54 [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 11:39:54 [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 11:39:54 [debug] Moves scheduled 18652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:54 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16666, writes 0 timeouts 0
2025-04-24 11:39:54 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37174
2025-04-24 11:39:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:55 [info] currentZPosition:0.145
2025-04-24 11:39:56 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:56 [debug] Diagnostics for board 50:
2025-04-24 11:39:56 [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 11:39:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:01 ago, cause: software
2025-04-24 11:39:56 [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 11:39:56 [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 11:39:56 [debug] Moves scheduled 18656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:56 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17357, writes 0 timeouts 0
2025-04-24 11:39:56 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36094/37176
2025-04-24 11:39:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:56 [info] currentZPosition:0.145
2025-04-24 11:39:57 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:57 [debug] Diagnostics for board 50:
2025-04-24 11:39:57 [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 11:39:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:02 ago, cause: software
2025-04-24 11:39:57 [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 11:39:57 [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 11:39:57 [debug] Moves scheduled 18660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=511, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:57 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16423, writes 11 timeouts 1
2025-04-24 11:39:57 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37175
2025-04-24 11:39:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:57 [info] currentZPosition:0.145
2025-04-24 11:39:59 [debug] Stopped at height 0.145 mm
2025-04-24 11:39:59 [debug] Diagnostics for board 50:
2025-04-24 11:39:59 [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 11:39:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:03 ago, cause: software
2025-04-24 11:39:59 [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 11:39:59 [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 11:39:59 [debug] Moves scheduled 18664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:39:59 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17093, writes 0 timeouts 0
2025-04-24 11:39:59 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37174
2025-04-24 11:39:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:39:59 [info] currentZPosition:0.145
2025-04-24 11:40:00 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:00 [debug] Diagnostics for board 50:
2025-04-24 11:40:00 [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 11:40:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:05 ago, cause: software
2025-04-24 11:40:00 [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 11:40:00 [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 11:40:00 [debug] Moves scheduled 18668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6048, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:00 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16368, writes 0 timeouts 0
2025-04-24 11:40:00 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36168/37176
2025-04-24 11:40:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:00 [info] currentZPosition:0.146
2025-04-24 11:40:01 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:01 [debug] Diagnostics for board 50:
2025-04-24 11:40:01 [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 11:40:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:06 ago, cause: software
2025-04-24 11:40:01 [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 11:40:01 [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 11:40:01 [debug] Moves scheduled 18672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17857
Sync err accum 91, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:01 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17353, writes 0 timeouts 0
2025-04-24 11:40:01 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37178
2025-04-24 11:40:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:01 [info] currentZPosition:0.145
2025-04-24 11:40:03 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:03 [debug] Diagnostics for board 50:
2025-04-24 11:40:03 [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 11:40:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:07 ago, cause: software
2025-04-24 11:40:03 [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 11:40:03 [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 11:40:03 [debug] Moves scheduled 18676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 82, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:03 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min 0, mspos 712, reads 16314, writes 0 timeouts 0
2025-04-24 11:40:03 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36169/37176
2025-04-24 11:40:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:03 [info] currentZPosition:0.146
2025-04-24 11:40:04 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:04 [debug] Diagnostics for board 50:
2025-04-24 11:40:04 [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 11:40:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:09 ago, cause: software
2025-04-24 11:40:04 [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 11:40:04 [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 11:40:04 [debug] Moves scheduled 18680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6696, max=17045
Sync err accum 68, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:40:04 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 17340, writes 0 timeouts 0
2025-04-24 11:40:04 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36095/37177
2025-04-24 11:40:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:04 [info] currentZPosition:0.146
2025-04-24 11:40:05 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:05 [debug] Diagnostics for board 50:
2025-04-24 11:40:05 [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 11:40:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:10 ago, cause: software
2025-04-24 11:40:05 [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 11:40:05 [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 11:40:05 [debug] Moves scheduled 18684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:05 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16649, writes 0 timeouts 0
2025-04-24 11:40:05 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36149/37177
2025-04-24 11:40:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:05 [info] currentZPosition:0.145
2025-04-24 11:40:07 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:07 [debug] Diagnostics for board 50:
2025-04-24 11:40:07 [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 11:40:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:11 ago, cause: software
2025-04-24 11:40:07 [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 11:40:07 [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 11:40:07 [debug] Moves scheduled 18688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:40:07 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 17147, writes 0 timeouts 0
2025-04-24 11:40:07 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37173
2025-04-24 11:40:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:07 [info] currentZPosition:0.146
2025-04-24 11:40:08 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:08 [debug] Diagnostics for board 50:
2025-04-24 11:40:08 [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 11:40:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:13 ago, cause: software
2025-04-24 11:40:08 [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 11:40:08 [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 11:40:08 [debug] Moves scheduled 18692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:40:08 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16723, writes 0 timeouts 0
2025-04-24 11:40:08 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37172
2025-04-24 11:40:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:08 [info] currentZPosition:0.145
2025-04-24 11:40:09 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:09 [debug] Diagnostics for board 50:
2025-04-24 11:40:09 [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 11:40:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:14 ago, cause: software
2025-04-24 11:40:09 [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 11:40:09 [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 11:40:09 [debug] Moves scheduled 18696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:40:09 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16899, writes 0 timeouts 0
2025-04-24 11:40:09 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37174
2025-04-24 11:40:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 811
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:09 [info] currentZPosition:0.146
2025-04-24 11:40:11 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:11 [debug] Diagnostics for board 50:
2025-04-24 11:40:11 [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 11:40:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:15 ago, cause: software
2025-04-24 11:40:11 [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 11:40:11 [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 11:40:11 [debug] Moves scheduled 18700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:40:11 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16754, writes 0 timeouts 0
2025-04-24 11:40:11 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37173
2025-04-24 11:40:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:11 [info] currentZPosition:0.145
2025-04-24 11:40:12 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:12 [debug] Diagnostics for board 50:
2025-04-24 11:40:12 [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 11:40:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:17 ago, cause: software
2025-04-24 11:40:12 [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 11:40:12 [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 11:40:12 [debug] Moves scheduled 18704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 95, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:12 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17380, writes 0 timeouts 0
2025-04-24 11:40:12 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37175
2025-04-24 11:40:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:12 [info] currentZPosition:0.145
2025-04-24 11:40:13 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:13 [debug] Diagnostics for board 50:
2025-04-24 11:40:13 [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 11:40:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:18 ago, cause: software
2025-04-24 11:40:13 [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 11:40:13 [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 11:40:13 [debug] Moves scheduled 18708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17857
Sync err accum 95, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:13 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16499, writes 0 timeouts 0
2025-04-24 11:40:13 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36148/37176
2025-04-24 11:40:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:13 [info] currentZPosition:0.145
2025-04-24 11:40:15 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:15 [debug] Diagnostics for board 50:
2025-04-24 11:40:15 [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 11:40:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:20 ago, cause: software
2025-04-24 11:40:15 [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 11:40:15 [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 11:40:15 [debug] Moves scheduled 18712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6521, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:40:15 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17289, writes 0 timeouts 0
2025-04-24 11:40:15 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37174
2025-04-24 11:40:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:15 [info] currentZPosition:0.145
2025-04-24 11:40:16 [debug] Stopped at height 0.144 mm
2025-04-24 11:40:16 [debug] Diagnostics for board 50:
2025-04-24 11:40:16 [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 11:40:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:21 ago, cause: software
2025-04-24 11:40:16 [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 11:40:16 [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 11:40:16 [debug] Moves scheduled 18716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 88, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:16 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16864, writes 0 timeouts 0
2025-04-24 11:40:16 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37176
2025-04-24 11:40:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:16 [info] currentZPosition:0.144
2025-04-24 11:40:17 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:17 [debug] Diagnostics for board 50:
2025-04-24 11:40:17 [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 11:40:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:22 ago, cause: software
2025-04-24 11:40:17 [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 11:40:17 [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 11:40:17 [debug] Moves scheduled 18720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=5813, max=18292
Sync err accum 82, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:17 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min 0, mspos 728, reads 16431, writes 0 timeouts 0
2025-04-24 11:40:17 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36097/37170
2025-04-24 11:40:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:18 [info] currentZPosition:0.146
2025-04-24 11:40:18 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:19 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:19 [debug] Diagnostics for board 50:
2025-04-24 11:40:19 [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 11:40:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:24 ago, cause: software
2025-04-24 11:40:19 [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 11:40:19 [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 11:40:19 [debug] Moves scheduled 18726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:19 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20685, writes 0 timeouts 0
2025-04-24 11:40:19 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36282/37179
2025-04-24 11:40:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:19 [info] currentZPosition:0.146
2025-04-24 11:40:20 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:20 [debug] Diagnostics for board 50:
2025-04-24 11:40:20 [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 11:40:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:25 ago, cause: software
2025-04-24 11:40:20 [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 11:40:20 [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 11:40:20 [debug] Moves scheduled 18730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=507, max=17045
Sync err accum 62, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:20 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17333, writes 11 timeouts 1
2025-04-24 11:40:20 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37177
2025-04-24 11:40:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:21 [info] currentZPosition:0.145
2025-04-24 11:40:22 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:22 [debug] Diagnostics for board 50:
2025-04-24 11:40:22 [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 11:40:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:27 ago, cause: software
2025-04-24 11:40:22 [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 11:40:22 [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 11:40:22 [debug] Moves scheduled 18734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 73, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:22 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16784, writes 0 timeouts 0
2025-04-24 11:40:22 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37176
2025-04-24 11:40:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:22 [info] currentZPosition:0.145
2025-04-24 11:40:23 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:23 [debug] Diagnostics for board 50:
2025-04-24 11:40:23 [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 11:40:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:28 ago, cause: software
2025-04-24 11:40:23 [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 11:40:23 [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 11:40:23 [debug] Moves scheduled 18738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:40:23 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17212, writes 0 timeouts 0
2025-04-24 11:40:23 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37172
2025-04-24 11:40:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:23 [info] currentZPosition:0.145
2025-04-24 11:40:25 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:25 [debug] Diagnostics for board 50:
2025-04-24 11:40:25 [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 11:40:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:29 ago, cause: software
2025-04-24 11:40:25 [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 11:40:25 [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 11:40:25 [debug] Moves scheduled 18742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:25 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16196, writes 0 timeouts 0
2025-04-24 11:40:25 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37175
2025-04-24 11:40:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:25 [info] currentZPosition:0.146
2025-04-24 11:40:26 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:26 [debug] Diagnostics for board 50:
2025-04-24 11:40:26 [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 11:40:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:31 ago, cause: software
2025-04-24 11:40:26 [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 11:40:26 [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 11:40:26 [debug] Moves scheduled 18746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 99, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:40:26 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 17103, writes 0 timeouts 0
2025-04-24 11:40:26 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37177
2025-04-24 11:40:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:26 [info] currentZPosition:0.146
2025-04-24 11:40:27 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:27 [debug] Diagnostics for board 50:
2025-04-24 11:40:27 [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 11:40:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:32 ago, cause: software
2025-04-24 11:40:27 [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 11:40:27 [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 11:40:27 [debug] Moves scheduled 18750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:27 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16827, writes 0 timeouts 0
2025-04-24 11:40:27 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37177
2025-04-24 11:40:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:27 [info] currentZPosition:0.145
2025-04-24 11:40:29 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:29 [debug] Diagnostics for board 50:
2025-04-24 11:40:29 [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 11:40:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:33 ago, cause: software
2025-04-24 11:40:29 [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 11:40:29 [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 11:40:29 [debug] Moves scheduled 18754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 101, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:29 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17373, writes 0 timeouts 0
2025-04-24 11:40:29 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37172
2025-04-24 11:40:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:29 [info] currentZPosition:0.145
2025-04-24 11:40:30 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:30 [debug] Diagnostics for board 50:
2025-04-24 11:40:30 [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 11:40:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:35 ago, cause: software
2025-04-24 11:40:30 [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 11:40:30 [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 11:40:30 [debug] Moves scheduled 18758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
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 4294933029 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:30 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16229, writes 0 timeouts 0
2025-04-24 11:40:30 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37178
2025-04-24 11:40:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:30 [info] currentZPosition:0.146
2025-04-24 11:40:30 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:32 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:32 [debug] Diagnostics for board 50:
2025-04-24 11:40:32 [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 11:40:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:42:36 ago, cause: software
2025-04-24 11:40:32 [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 11:40:32 [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 11:40:32 [debug] Moves scheduled 18764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=18292
Sync err accum 90, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:32 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 21377, writes 0 timeouts 0
2025-04-24 11:40:32 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37175
2025-04-24 11:40:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:32 [info] currentZPosition:0.145
2025-04-24 11:40:33 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:33 [debug] Diagnostics for board 50:
2025-04-24 11:40:33 [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 11:40:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:42:38 ago, cause: software
2025-04-24 11:40:33 [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 11:40:33 [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 11:40:33 [debug] Moves scheduled 18768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:33 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16282, writes 0 timeouts 0
2025-04-24 11:40:33 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37172
2025-04-24 11:40:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:33 [info] currentZPosition:0.146
2025-04-24 11:40:34 [debug] Stopped at height 0.147 mm
2025-04-24 11:40:34 [debug] Diagnostics for board 50:
2025-04-24 11:40:34 [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 11:40:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:39 ago, cause: software
2025-04-24 11:40:34 [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 11:40:34 [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 11:40:34 [debug] Moves scheduled 18772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:34 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16885, writes 0 timeouts 0
2025-04-24 11:40:34 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36112/37178
2025-04-24 11:40:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:34 [info] currentZPosition:0.147
2025-04-24 11:40:36 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:36 [debug] Diagnostics for board 50:
2025-04-24 11:40:36 [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 11:40:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:40 ago, cause: software
2025-04-24 11:40:36 [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 11:40:36 [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 11:40:36 [debug] Moves scheduled 18776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 67, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:40:36 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17154, writes 0 timeouts 0
2025-04-24 11:40:36 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37179
2025-04-24 11:40:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:36 [info] currentZPosition:0.145
2025-04-24 11:40:36 [debug] Stopped at height 0.144 mm
2025-04-24 11:40:37 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:37 [debug] Diagnostics for board 50:
2025-04-24 11:40:37 [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 11:40:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:42 ago, cause: software
2025-04-24 11:40:37 [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 11:40:37 [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 11:40:37 [debug] Moves scheduled 18782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:37 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20902, writes 0 timeouts 0
2025-04-24 11:40:37 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37177
2025-04-24 11:40:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:37 [info] currentZPosition:0.146
2025-04-24 11:40:39 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:39 [debug] Diagnostics for board 50:
2025-04-24 11:40:39 [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 11:40:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:43 ago, cause: software
2025-04-24 11:40:39 [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 11:40:39 [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 11:40:39 [debug] Moves scheduled 18786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 77, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:40:39 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16873, writes 0 timeouts 0
2025-04-24 11:40:39 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37174
2025-04-24 11:40:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:39 [info] currentZPosition:0.145
2025-04-24 11:40:40 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:40 [debug] Diagnostics for board 50:
2025-04-24 11:40:40 [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 11:40:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:45 ago, cause: software
2025-04-24 11:40:40 [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 11:40:40 [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 11:40:40 [debug] Moves scheduled 18790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 81, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:40 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17092, writes 0 timeouts 0
2025-04-24 11:40:40 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36092/37175
2025-04-24 11:40:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:40 [info] currentZPosition:0.145
2025-04-24 11:40:41 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:41 [debug] Diagnostics for board 50:
2025-04-24 11:40:41 [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 11:40:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:46 ago, cause: software
2025-04-24 11:40:41 [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 11:40:41 [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 11:40:41 [debug] Moves scheduled 18794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6097, max=17045
Sync err accum 85, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:41 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16363, writes 0 timeouts 0
2025-04-24 11:40:41 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37173
2025-04-24 11:40:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:41 [info] currentZPosition:0.146
2025-04-24 11:40:43 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:43 [debug] Diagnostics for board 50:
2025-04-24 11:40:43 [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 11:40:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:48 ago, cause: software
2025-04-24 11:40:43 [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 11:40:43 [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 11:40:43 [debug] Moves scheduled 18798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:43 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 17089, writes 0 timeouts 0
2025-04-24 11:40:43 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37170
2025-04-24 11:40:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:43 [info] currentZPosition:0.146
2025-04-24 11:40:44 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:44 [debug] Diagnostics for board 50:
2025-04-24 11:40:44 [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 11:40:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:42:49 ago, cause: software
2025-04-24 11:40:44 [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 11:40:44 [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 11:40:44 [debug] Moves scheduled 18802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6250, max=18292
Sync err accum 85, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:44 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16701, writes 0 timeouts 0
2025-04-24 11:40:44 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36404/37177
2025-04-24 11:40:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:44 [info] currentZPosition:0.146
2025-04-24 11:40:45 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:45 [debug] Diagnostics for board 50:
2025-04-24 11:40:45 [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 11:40:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:50 ago, cause: software
2025-04-24 11:40:45 [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 11:40:45 [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 11:40:45 [debug] Moves scheduled 18806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 79, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:45 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17222, writes 0 timeouts 0
2025-04-24 11:40:45 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37177
2025-04-24 11:40:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:45 [info] currentZPosition:0.145
2025-04-24 11:40:47 [debug] Stopped at height 0.145 mm
2025-04-24 11:40:47 [debug] Diagnostics for board 50:
2025-04-24 11:40:47 [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 11:40:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:52 ago, cause: software
2025-04-24 11:40:47 [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 11:40:47 [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 11:40:47 [debug] Moves scheduled 18810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 68, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294492571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:47 [debug] Driver 0: pos -3501, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 30032, writes 0 timeouts 0
2025-04-24 11:40:47 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37177
2025-04-24 11:40:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:48 [info] currentZPosition:0.145
2025-04-24 11:40:50 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:50 [debug] Diagnostics for board 50:
2025-04-24 11:40:50 [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 11:40:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:55 ago, cause: software
2025-04-24 11:40:50 [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 11:40:50 [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 11:40:50 [debug] Moves scheduled 18814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:50 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 24236, writes 0 timeouts 0
2025-04-24 11:40:50 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36096/37175
2025-04-24 11:40:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:50 [info] currentZPosition:0.146
2025-04-24 11:40:51 [debug] Stopped at height 0.144 mm
2025-04-24 11:40:51 [debug] Diagnostics for board 50:
2025-04-24 11:40:51 [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 11:40:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:56 ago, cause: software
2025-04-24 11:40:51 [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 11:40:51 [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 11:40:51 [debug] Moves scheduled 18818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:51 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17095, writes 0 timeouts 0
2025-04-24 11:40:51 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37176
2025-04-24 11:40:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:51 [info] currentZPosition:0.144
2025-04-24 11:40:52 [debug] Stopped at height 0.144 mm
2025-04-24 11:40:53 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:53 [debug] Diagnostics for board 50:
2025-04-24 11:40:53 [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 11:40:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:42:58 ago, cause: software
2025-04-24 11:40:53 [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 11:40:53 [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 11:40:53 [debug] Moves scheduled 18824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
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 4294930475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:53 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20766, writes 0 timeouts 0
2025-04-24 11:40:53 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 11:40:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:53 [info] currentZPosition:0.146
2025-04-24 11:40:53 [debug] Stopped at height 0.148 mm
2025-04-24 11:40:54 [debug] Stopped at height 0.144 mm
2025-04-24 11:40:55 [debug] Stopped at height 0.147 mm
2025-04-24 11:40:55 [debug] Diagnostics for board 50:
2025-04-24 11:40:55 [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 11:40:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:00 ago, cause: software
2025-04-24 11:40:55 [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 11:40:55 [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 11:40:55 [debug] Moves scheduled 18832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:55 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 24136, writes 0 timeouts 0
2025-04-24 11:40:55 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36402/37176
2025-04-24 11:40:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8920, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:55 [info] currentZPosition:0.147
2025-04-24 11:40:55 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:56 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:56 [debug] Diagnostics for board 50:
2025-04-24 11:40:56 [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 11:40:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:01 ago, cause: software
2025-04-24 11:40:56 [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 11:40:56 [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 11:40:56 [debug] Moves scheduled 18838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6578, max=17857
Sync err accum 63, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:40:56 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 21682, writes 0 timeouts 0
2025-04-24 11:40:56 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36110/37173
2025-04-24 11:40:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:57 [info] currentZPosition:0.146
2025-04-24 11:40:58 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:58 [debug] Diagnostics for board 50:
2025-04-24 11:40:58 [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 11:40:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:03 ago, cause: software
2025-04-24 11:40:58 [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 11:40:58 [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 11:40:58 [debug] Moves scheduled 18842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:58 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16762, writes 0 timeouts 0
2025-04-24 11:40:58 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37176
2025-04-24 11:40:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:58 [info] currentZPosition:0.146
2025-04-24 11:40:59 [debug] Stopped at height 0.146 mm
2025-04-24 11:40:59 [debug] Diagnostics for board 50:
2025-04-24 11:40:59 [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 11:40:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:04 ago, cause: software
2025-04-24 11:40:59 [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 11:40:59 [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 11:40:59 [debug] Moves scheduled 18846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:40:59 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17068, writes 0 timeouts 0
2025-04-24 11:40:59 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37177
2025-04-24 11:40:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:40:59 [info] currentZPosition:0.146
2025-04-24 11:41:00 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:00 [debug] Diagnostics for board 50:
2025-04-24 11:41:00 [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 11:41:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:05 ago, cause: software
2025-04-24 11:41:00 [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 11:41:00 [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 11:41:00 [debug] Moves scheduled 18850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5769, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:00 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16393, writes 0 timeouts 0
2025-04-24 11:41:00 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37166
2025-04-24 11:41:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:01 [info] currentZPosition:0.146
2025-04-24 11:41:02 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:02 [debug] Diagnostics for board 50:
2025-04-24 11:41:02 [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 11:41:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:07 ago, cause: software
2025-04-24 11:41:02 [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 11:41:02 [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 11:41:02 [debug] Moves scheduled 18854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:02 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17270, writes 0 timeouts 0
2025-04-24 11:41:02 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:41:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:02 [info] currentZPosition:0.146
2025-04-24 11:41:03 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:03 [debug] Diagnostics for board 50:
2025-04-24 11:41:03 [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 11:41:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:08 ago, cause: software
2025-04-24 11:41:03 [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 11:41:03 [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 11:41:03 [debug] Moves scheduled 18858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:03 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16681, writes 0 timeouts 0
2025-04-24 11:41:03 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37175
2025-04-24 11:41:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:03 [info] currentZPosition:0.146
2025-04-24 11:41:05 [debug] Stopped at height 0.145 mm
2025-04-24 11:41:05 [debug] Diagnostics for board 50:
2025-04-24 11:41:05 [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 11:41:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:43:09 ago, cause: software
2025-04-24 11:41:05 [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 11:41:05 [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 11:41:05 [debug] Moves scheduled 18862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6818, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:41:05 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17491, writes 0 timeouts 0
2025-04-24 11:41:05 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 11:41:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:05 [info] currentZPosition:0.145
2025-04-24 11:41:06 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:06 [debug] Diagnostics for board 50:
2025-04-24 11:41:06 [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 11:41:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:11 ago, cause: software
2025-04-24 11:41:06 [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 11:41:06 [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 11:41:06 [debug] Moves scheduled 18866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=502, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:06 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16173, writes 11 timeouts 1
2025-04-24 11:41:06 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36404/37178
2025-04-24 11:41:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:06 [info] currentZPosition:0.146
2025-04-24 11:41:06 [debug] Stopped at height 0.144 mm
2025-04-24 11:41:08 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:08 [debug] Diagnostics for board 50:
2025-04-24 11:41:08 [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 11:41:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:12 ago, cause: software
2025-04-24 11:41:08 [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 11:41:08 [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 11:41:08 [debug] Moves scheduled 18872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6198, max=17857
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 4294932672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:08 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 21171, writes 0 timeouts 0
2025-04-24 11:41:08 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37175
2025-04-24 11:41:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:08 [info] currentZPosition:0.146
2025-04-24 11:41:08 [debug] Stopped at height 0.145 mm
2025-04-24 11:41:09 [debug] Stopped at height 0.145 mm
2025-04-24 11:41:09 [debug] Diagnostics for board 50:
2025-04-24 11:41:09 [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 11:41:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:14 ago, cause: software
2025-04-24 11:41:09 [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 11:41:09 [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 11:41:09 [debug] Moves scheduled 18878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 73, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:09 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20664, writes 0 timeouts 0
2025-04-24 11:41:09 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36404/37177
2025-04-24 11:41:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:09 [info] currentZPosition:0.145
2025-04-24 11:41:11 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:11 [debug] Diagnostics for board 50:
2025-04-24 11:41:11 [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 11:41:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:15 ago, cause: software
2025-04-24 11:41:11 [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 11:41:11 [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 11:41:11 [debug] Moves scheduled 18882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:11 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16939, writes 0 timeouts 0
2025-04-24 11:41:11 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37178
2025-04-24 11:41:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:11 [info] currentZPosition:0.146
2025-04-24 11:41:12 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:12 [debug] Diagnostics for board 50:
2025-04-24 11:41:12 [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 11:41:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:17 ago, cause: software
2025-04-24 11:41:12 [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 11:41:12 [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 11:41:12 [debug] Moves scheduled 18886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
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 4294933561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:12 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16398, writes 0 timeouts 0
2025-04-24 11:41:12 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37172
2025-04-24 11:41:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:12 [info] currentZPosition:0.146
2025-04-24 11:41:13 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:13 [debug] Diagnostics for board 50:
2025-04-24 11:41:13 [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 11:41:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:18 ago, cause: software
2025-04-24 11:41:13 [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 11:41:13 [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 11:41:13 [debug] Moves scheduled 18890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:41:13 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17246, writes 0 timeouts 0
2025-04-24 11:41:13 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 11:41:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:13 [info] currentZPosition:0.146
2025-04-24 11:41:15 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:15 [debug] Diagnostics for board 50:
2025-04-24 11:41:15 [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 11:41:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:19 ago, cause: software
2025-04-24 11:41:15 [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 11:41:15 [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 11:41:15 [debug] Moves scheduled 18894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 74, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:41:15 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16549, writes 0 timeouts 0
2025-04-24 11:41:15 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36281/37176
2025-04-24 11:41:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:15 [info] currentZPosition:0.146
2025-04-24 11:41:16 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:16 [debug] Diagnostics for board 50:
2025-04-24 11:41:16 [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 11:41:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:21 ago, cause: software
2025-04-24 11:41:16 [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 11:41:16 [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 11:41:16 [debug] Moves scheduled 18898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5813, max=17045
Sync err accum 73, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:16 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17321, writes 0 timeouts 0
2025-04-24 11:41:16 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37175
2025-04-24 11:41:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:16 [info] currentZPosition:0.146
2025-04-24 11:41:17 [debug] Stopped at height 0.144 mm
2025-04-24 11:41:17 [debug] Diagnostics for board 50:
2025-04-24 11:41:17 [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 11:41:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:22 ago, cause: software
2025-04-24 11:41:17 [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 11:41:17 [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 11:41:17 [debug] Moves scheduled 18902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:17 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17090, writes 0 timeouts 0
2025-04-24 11:41:17 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37174
2025-04-24 11:41:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:17 [info] currentZPosition:0.144
2025-04-24 11:41:18 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:19 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:19 [debug] Diagnostics for board 50:
2025-04-24 11:41:19 [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 11:41:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:24 ago, cause: software
2025-04-24 11:41:19 [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 11:41:19 [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 11:41:19 [debug] Moves scheduled 18908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:19 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20386, writes 0 timeouts 0
2025-04-24 11:41:19 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37175
2025-04-24 11:41:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:19 [info] currentZPosition:0.147
2025-04-24 11:41:20 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:20 [debug] Diagnostics for board 50:
2025-04-24 11:41:20 [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 11:41:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:25 ago, cause: software
2025-04-24 11:41:20 [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 11:41:20 [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 11:41:20 [debug] Moves scheduled 18912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 66, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:20 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16797, writes 0 timeouts 0
2025-04-24 11:41:20 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37178
2025-04-24 11:41:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:20 [info] currentZPosition:0.146
2025-04-24 11:41:22 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:22 [debug] Diagnostics for board 50:
2025-04-24 11:41:22 [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 11:41:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:27 ago, cause: software
2025-04-24 11:41:22 [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 11:41:22 [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 11:41:22 [debug] Moves scheduled 18916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 70, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:22 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 17005, writes 0 timeouts 0
2025-04-24 11:41:22 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36119/37173
2025-04-24 11:41:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:22 [info] currentZPosition:0.146
2025-04-24 11:41:23 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:23 [debug] Diagnostics for board 50:
2025-04-24 11:41:23 [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 11:41:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:28 ago, cause: software
2025-04-24 11:41:23 [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 11:41:23 [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 11:41:23 [debug] Moves scheduled 18920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17857
Sync err accum 71, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294929230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:23 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16544, writes 0 timeouts 0
2025-04-24 11:41:23 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37175
2025-04-24 11:41:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:23 [info] currentZPosition:0.146
2025-04-24 11:41:24 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:24 [debug] Diagnostics for board 50:
2025-04-24 11:41:24 [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 11:41:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:29 ago, cause: software
2025-04-24 11:41:24 [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 11:41:24 [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 11:41:24 [debug] Moves scheduled 18924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:24 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17427, writes 0 timeouts 0
2025-04-24 11:41:24 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37177
2025-04-24 11:41:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:25 [info] currentZPosition:0.146
2025-04-24 11:41:26 [debug] Stopped at height 0.145 mm
2025-04-24 11:41:26 [debug] Diagnostics for board 50:
2025-04-24 11:41:26 [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 11:41:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:31 ago, cause: software
2025-04-24 11:41:26 [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 11:41:26 [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 11:41:26 [debug] Moves scheduled 18928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17857
Sync err accum 66, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:26 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16644, writes 0 timeouts 0
2025-04-24 11:41:26 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36169/37178
2025-04-24 11:41:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:26 [info] currentZPosition:0.145
2025-04-24 11:41:27 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:27 [debug] Diagnostics for board 50:
2025-04-24 11:41:27 [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 11:41:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:32 ago, cause: software
2025-04-24 11:41:27 [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 11:41:27 [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 11:41:27 [debug] Moves scheduled 18932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:27 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16832, writes 0 timeouts 0
2025-04-24 11:41:27 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37175
2025-04-24 11:41:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:27 [info] currentZPosition:0.147
2025-04-24 11:41:28 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:29 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:29 [debug] Diagnostics for board 50:
2025-04-24 11:41:29 [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 11:41:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:34 ago, cause: software
2025-04-24 11:41:29 [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 11:41:29 [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 11:41:29 [debug] Moves scheduled 18938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:29 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20807, writes 0 timeouts 0
2025-04-24 11:41:29 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37177
2025-04-24 11:41:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:29 [info] currentZPosition:0.146
2025-04-24 11:41:30 [debug] Stopped at height 0.148 mm
2025-04-24 11:41:30 [debug] Diagnostics for board 50:
2025-04-24 11:41:30 [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 11:41:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:35 ago, cause: software
2025-04-24 11:41:30 [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 11:41:30 [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 11:41:30 [debug] Moves scheduled 18942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:30 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16526, writes 0 timeouts 0
2025-04-24 11:41:30 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37174
2025-04-24 11:41:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:30 [info] currentZPosition:0.148
2025-04-24 11:41:31 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:32 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:32 [debug] Diagnostics for board 50:
2025-04-24 11:41:32 [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 11:41:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:37 ago, cause: software
2025-04-24 11:41:32 [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 11:41:32 [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 11:41:32 [debug] Moves scheduled 18948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:41:32 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20914, writes 0 timeouts 0
2025-04-24 11:41:32 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37173
2025-04-24 11:41:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:32 [info] currentZPosition:0.146
2025-04-24 11:41:33 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:33 [debug] Diagnostics for board 50:
2025-04-24 11:41:33 [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 11:41:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:38 ago, cause: software
2025-04-24 11:41:33 [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 11:41:33 [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 11:41:33 [debug] Moves scheduled 18952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=18292
Sync err accum 88, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:33 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17058, writes 0 timeouts 0
2025-04-24 11:41:33 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37174
2025-04-24 11:41:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:33 [info] currentZPosition:0.147
2025-04-24 11:41:34 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:34 [debug] Diagnostics for board 50:
2025-04-24 11:41:34 [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 11:41:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:39 ago, cause: software
2025-04-24 11:41:34 [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 11:41:34 [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 11:41:34 [debug] Moves scheduled 18956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
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 4294933868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:34 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16581, writes 0 timeouts 0
2025-04-24 11:41:34 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36166/37174
2025-04-24 11:41:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:35 [info] currentZPosition:0.147
2025-04-24 11:41:36 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:36 [debug] Diagnostics for board 50:
2025-04-24 11:41:36 [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 11:41:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:41 ago, cause: software
2025-04-24 11:41:36 [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 11:41:36 [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 11:41:36 [debug] Moves scheduled 18960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 88, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:36 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17314, writes 0 timeouts 0
2025-04-24 11:41:36 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36097/37176
2025-04-24 11:41:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:36 [info] currentZPosition:0.146
2025-04-24 11:41:37 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:37 [debug] Diagnostics for board 50:
2025-04-24 11:41:37 [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 11:41:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:42 ago, cause: software
2025-04-24 11:41:37 [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 11:41:37 [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 11:41:37 [debug] Moves scheduled 18964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 87, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:37 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16596, writes 0 timeouts 0
2025-04-24 11:41:37 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36162/37173
2025-04-24 11:41:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:37 [info] currentZPosition:0.146
2025-04-24 11:41:39 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:39 [debug] Diagnostics for board 50:
2025-04-24 11:41:39 [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 11:41:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:43 ago, cause: software
2025-04-24 11:41:39 [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 11:41:39 [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 11:41:39 [debug] Moves scheduled 18968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:39 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17244, writes 0 timeouts 0
2025-04-24 11:41:39 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37173
2025-04-24 11:41:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:39 [info] currentZPosition:0.146
2025-04-24 11:41:40 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:40 [debug] Diagnostics for board 50:
2025-04-24 11:41:40 [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 11:41:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:45 ago, cause: software
2025-04-24 11:41:40 [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 11:41:40 [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 11:41:40 [debug] Moves scheduled 18972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:40 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16575, writes 0 timeouts 0
2025-04-24 11:41:40 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36150/37176
2025-04-24 11:41:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:40 [info] currentZPosition:0.146
2025-04-24 11:41:41 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:41 [debug] Diagnostics for board 50:
2025-04-24 11:41:41 [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 11:41:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:46 ago, cause: software
2025-04-24 11:41:41 [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 11:41:41 [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 11:41:41 [debug] Moves scheduled 18976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:41 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17167, writes 0 timeouts 0
2025-04-24 11:41:41 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37175
2025-04-24 11:41:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:41 [info] currentZPosition:0.146
2025-04-24 11:41:43 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:43 [debug] Diagnostics for board 50:
2025-04-24 11:41:43 [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 11:41:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:47 ago, cause: software
2025-04-24 11:41:43 [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 11:41:43 [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 11:41:43 [debug] Moves scheduled 18980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 68, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:43 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16530, writes 0 timeouts 0
2025-04-24 11:41:43 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37178
2025-04-24 11:41:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:43 [info] currentZPosition:0.146
2025-04-24 11:41:44 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:44 [debug] Diagnostics for board 50:
2025-04-24 11:41:44 [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 11:41:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:49 ago, cause: software
2025-04-24 11:41:44 [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 11:41:44 [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 11:41:44 [debug] Moves scheduled 18984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:41:44 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17043, writes 0 timeouts 0
2025-04-24 11:41:44 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36086/37175
2025-04-24 11:41:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:44 [info] currentZPosition:0.146
2025-04-24 11:41:45 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:45 [debug] Diagnostics for board 50:
2025-04-24 11:41:45 [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 11:41:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:50 ago, cause: software
2025-04-24 11:41:45 [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 11:41:45 [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 11:41:45 [debug] Moves scheduled 18988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:41:45 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16653, writes 0 timeouts 0
2025-04-24 11:41:45 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37174
2025-04-24 11:41:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:45 [info] currentZPosition:0.146
2025-04-24 11:41:47 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:47 [debug] Diagnostics for board 50:
2025-04-24 11:41:47 [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 11:41:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:51 ago, cause: software
2025-04-24 11:41:47 [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 11:41:47 [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 11:41:47 [debug] Moves scheduled 18992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:47 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16786, writes 0 timeouts 0
2025-04-24 11:41:47 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37172
2025-04-24 11:41:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:47 [info] currentZPosition:0.147
2025-04-24 11:41:47 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:48 [debug] Stopped at height 0.148 mm
2025-04-24 11:41:48 [debug] Diagnostics for board 50:
2025-04-24 11:41:48 [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 11:41:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:53 ago, cause: software
2025-04-24 11:41:48 [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 11:41:48 [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 11:41:48 [debug] Moves scheduled 18998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=632, max=17857
Sync err accum 99, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:48 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 20321, writes 11 timeouts 1
2025-04-24 11:41:48 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36161/37176
2025-04-24 11:41:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:48 [info] currentZPosition:0.148
2025-04-24 11:41:49 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:50 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:50 [debug] Diagnostics for board 50:
2025-04-24 11:41:50 [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 11:41:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:55 ago, cause: software
2025-04-24 11:41:50 [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 11:41:50 [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 11:41:50 [debug] Moves scheduled 19004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 98, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:50 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 21307, writes 0 timeouts 0
2025-04-24 11:41:50 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37176
2025-04-24 11:41:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:50 [info] currentZPosition:0.147
2025-04-24 11:41:51 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:51 [debug] Diagnostics for board 50:
2025-04-24 11:41:51 [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 11:41:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:56 ago, cause: software
2025-04-24 11:41:51 [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 11:41:51 [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 11:41:51 [debug] Moves scheduled 19008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:51 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16719, writes 0 timeouts 0
2025-04-24 11:41:51 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36168/37177
2025-04-24 11:41:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:51 [info] currentZPosition:0.146
2025-04-24 11:41:53 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:53 [debug] Diagnostics for board 50:
2025-04-24 11:41:53 [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 11:41:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:57 ago, cause: software
2025-04-24 11:41:53 [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 11:41:53 [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 11:41:53 [debug] Moves scheduled 19012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:53 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17093, writes 0 timeouts 0
2025-04-24 11:41:53 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 11:41:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:53 [info] currentZPosition:0.147
2025-04-24 11:41:54 [debug] Stopped at height 0.148 mm
2025-04-24 11:41:54 [debug] Diagnostics for board 50:
2025-04-24 11:41:54 [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 11:41:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:43:59 ago, cause: software
2025-04-24 11:41:54 [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 11:41:54 [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 11:41:54 [debug] Moves scheduled 19016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6696, max=17045
Sync err accum 84, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:54 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16327, writes 0 timeouts 0
2025-04-24 11:41:54 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37177
2025-04-24 11:41:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:54 [info] currentZPosition:0.148
2025-04-24 11:41:55 [debug] Stopped at height 0.146 mm
2025-04-24 11:41:55 [debug] Diagnostics for board 50:
2025-04-24 11:41:55 [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 11:41:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:00 ago, cause: software
2025-04-24 11:41:55 [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 11:41:55 [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 11:41:55 [debug] Moves scheduled 19020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 75, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:55 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17538, writes 0 timeouts 0
2025-04-24 11:41:55 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 11:41:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:55 [info] currentZPosition:0.146
2025-04-24 11:41:57 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:57 [debug] Diagnostics for board 50:
2025-04-24 11:41:57 [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 11:41:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:02 ago, cause: software
2025-04-24 11:41:57 [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 11:41:57 [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 11:41:57 [debug] Moves scheduled 19024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:57 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16424, writes 0 timeouts 0
2025-04-24 11:41:57 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36180/37177
2025-04-24 11:41:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:57 [info] currentZPosition:0.147
2025-04-24 11:41:58 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:58 [debug] Diagnostics for board 50:
2025-04-24 11:41:58 [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 11:41:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:03 ago, cause: software
2025-04-24 11:41:58 [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 11:41:58 [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 11:41:58 [debug] Moves scheduled 19028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6637, max=17045
Sync err accum 68, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:41:58 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17236, writes 0 timeouts 0
2025-04-24 11:41:58 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37174
2025-04-24 11:41:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:58 [info] currentZPosition:0.147
2025-04-24 11:41:59 [debug] Stopped at height 0.147 mm
2025-04-24 11:41:59 [debug] Diagnostics for board 50:
2025-04-24 11:41:59 [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 11:41:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:04 ago, cause: software
2025-04-24 11:41:59 [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 11:41:59 [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 11:41:59 [debug] Moves scheduled 19032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6147, max=17441
Sync err accum 81, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294928885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:41:59 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16592, writes 0 timeouts 0
2025-04-24 11:41:59 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37169
2025-04-24 11:41:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:41:59 [info] currentZPosition:0.147
2025-04-24 11:42:01 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:01 [debug] Diagnostics for board 50:
2025-04-24 11:42:01 [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 11:42:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:06 ago, cause: software
2025-04-24 11:42:01 [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 11:42:01 [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 11:42:01 [debug] Moves scheduled 19036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6818, max=18292
Sync err accum 98, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:01 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17202, writes 0 timeouts 0
2025-04-24 11:42:01 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37175
2025-04-24 11:42:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:01 [info] currentZPosition:0.147
2025-04-24 11:42:02 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:02 [debug] Diagnostics for board 50:
2025-04-24 11:42:02 [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 11:42:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:44:07 ago, cause: software
2025-04-24 11:42:02 [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 11:42:02 [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 11:42:02 [debug] Moves scheduled 19040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 111, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:02 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16725, writes 0 timeouts 0
2025-04-24 11:42:02 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36135/37174
2025-04-24 11:42:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:02 [info] currentZPosition:0.146
2025-04-24 11:42:03 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:03 [debug] Diagnostics for board 50:
2025-04-24 11:42:03 [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 11:42:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:08 ago, cause: software
2025-04-24 11:42:03 [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 11:42:03 [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 11:42:03 [debug] Moves scheduled 19044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 120, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:03 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 17009, writes 0 timeouts 0
2025-04-24 11:42:03 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:42:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:04 [info] currentZPosition:0.147
2025-04-24 11:42:05 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:05 [debug] Diagnostics for board 50:
2025-04-24 11:42:05 [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 11:42:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:10 ago, cause: software
2025-04-24 11:42:05 [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 11:42:05 [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 11:42:05 [debug] Moves scheduled 19048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 124, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:05 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16918, writes 0 timeouts 0
2025-04-24 11:42:05 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36165/37175
2025-04-24 11:42:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:05 [info] currentZPosition:0.146
2025-04-24 11:42:06 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:06 [debug] Diagnostics for board 50:
2025-04-24 11:42:06 [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 11:42:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:11 ago, cause: software
2025-04-24 11:42:06 [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 11:42:06 [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 11:42:06 [debug] Moves scheduled 19052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 127, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:06 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16775, writes 0 timeouts 0
2025-04-24 11:42:06 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37173
2025-04-24 11:42:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:06 [info] currentZPosition:0.147
2025-04-24 11:42:08 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:08 [debug] Diagnostics for board 50:
2025-04-24 11:42:08 [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 11:42:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:12 ago, cause: software
2025-04-24 11:42:08 [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 11:42:08 [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 11:42:08 [debug] Moves scheduled 19056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 127, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:08 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16805, writes 0 timeouts 0
2025-04-24 11:42:08 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36284/37176
2025-04-24 11:42:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:08 [info] currentZPosition:0.147
2025-04-24 11:42:09 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:09 [debug] Diagnostics for board 50:
2025-04-24 11:42:09 [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 11:42:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:14 ago, cause: software
2025-04-24 11:42:09 [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 11:42:09 [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 11:42:09 [debug] Moves scheduled 19060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 120, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:42:09 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17407, writes 0 timeouts 0
2025-04-24 11:42:09 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36097/37174
2025-04-24 11:42:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:09 [info] currentZPosition:0.146
2025-04-24 11:42:10 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:10 [debug] Diagnostics for board 50:
2025-04-24 11:42:10 [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 11:42:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:15 ago, cause: software
2025-04-24 11:42:10 [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 11:42:10 [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 11:42:10 [debug] Moves scheduled 19064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6756, max=17045
Sync err accum 113, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, 
2025-04-24 11:42:10 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16425, writes 0 timeouts 0
2025-04-24 11:42:10 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36406/37175
2025-04-24 11:42:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:10 [info] currentZPosition:0.146
2025-04-24 11:42:12 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:12 [debug] Diagnostics for board 50:
2025-04-24 11:42:12 [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 11:42:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:16 ago, cause: software
2025-04-24 11:42:12 [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 11:42:12 [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 11:42:12 [debug] Moves scheduled 19068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:42:12 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17265, writes 0 timeouts 0
2025-04-24 11:42:12 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37176
2025-04-24 11:42:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:12 [info] currentZPosition:0.146
2025-04-24 11:42:13 [debug] Stopped at height 0.145 mm
2025-04-24 11:42:13 [debug] Diagnostics for board 50:
2025-04-24 11:42:13 [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 11:42:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:18 ago, cause: software
2025-04-24 11:42:13 [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 11:42:13 [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 11:42:13 [debug] Moves scheduled 19072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 89, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:13 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16887, writes 0 timeouts 0
2025-04-24 11:42:13 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36408/37177
2025-04-24 11:42:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:13 [info] currentZPosition:0.145
2025-04-24 11:42:14 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:14 [debug] Diagnostics for board 50:
2025-04-24 11:42:14 [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 11:42:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:19 ago, cause: software
2025-04-24 11:42:14 [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 11:42:14 [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 11:42:14 [debug] Moves scheduled 19076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 71, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:14 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16692, writes 0 timeouts 0
2025-04-24 11:42:14 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36114/37178
2025-04-24 11:42:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:14 [info] currentZPosition:0.147
2025-04-24 11:42:15 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:16 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:16 [debug] Diagnostics for board 50:
2025-04-24 11:42:16 [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 11:42:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:21 ago, cause: software
2025-04-24 11:42:16 [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 11:42:16 [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 11:42:16 [debug] Moves scheduled 19082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:16 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20697, writes 0 timeouts 0
2025-04-24 11:42:16 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37176
2025-04-24 11:42:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:16 [info] currentZPosition:0.146
2025-04-24 11:42:17 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:17 [debug] Diagnostics for board 50:
2025-04-24 11:42:17 [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 11:42:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:44:22 ago, cause: software
2025-04-24 11:42:17 [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 11:42:17 [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 11:42:17 [debug] Moves scheduled 19086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
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 4294936515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:42:17 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16899, writes 0 timeouts 0
2025-04-24 11:42:17 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37173
2025-04-24 11:42:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:17 [info] currentZPosition:0.147
2025-04-24 11:42:19 [debug] Stopped at height 0.148 mm
2025-04-24 11:42:19 [debug] Diagnostics for board 50:
2025-04-24 11:42:19 [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 11:42:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:23 ago, cause: software
2025-04-24 11:42:19 [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 11:42:19 [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 11:42:19 [debug] Moves scheduled 19090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 80, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:19 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min 0, mspos 744, reads 16287, writes 0 timeouts 0
2025-04-24 11:42:19 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36396/37175
2025-04-24 11:42:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:19 [info] currentZPosition:0.148
2025-04-24 11:42:20 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:20 [debug] Diagnostics for board 50:
2025-04-24 11:42:20 [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 11:42:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:25 ago, cause: software
2025-04-24 11:42:20 [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 11:42:20 [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 11:42:20 [debug] Moves scheduled 19094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:20 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17420, writes 0 timeouts 0
2025-04-24 11:42:20 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37173
2025-04-24 11:42:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:20 [info] currentZPosition:0.147
2025-04-24 11:42:21 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:21 [debug] Diagnostics for board 50:
2025-04-24 11:42:21 [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 11:42:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:26 ago, cause: software
2025-04-24 11:42:21 [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 11:42:21 [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 11:42:21 [debug] Moves scheduled 19098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:42:21 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16718, writes 0 timeouts 0
2025-04-24 11:42:21 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37176
2025-04-24 11:42:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:21 [info] currentZPosition:0.147
2025-04-24 11:42:23 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:23 [debug] Diagnostics for board 50:
2025-04-24 11:42:23 [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 11:42:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:28 ago, cause: software
2025-04-24 11:42:23 [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 11:42:23 [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 11:42:23 [debug] Moves scheduled 19102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:23 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 17026, writes 0 timeouts 0
2025-04-24 11:42:23 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37176
2025-04-24 11:42:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:23 [info] currentZPosition:0.147
2025-04-24 11:42:24 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:24 [debug] Diagnostics for board 50:
2025-04-24 11:42:24 [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 11:42:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:29 ago, cause: software
2025-04-24 11:42:24 [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 11:42:24 [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 11:42:24 [debug] Moves scheduled 19106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 88, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:24 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16694, writes 0 timeouts 0
2025-04-24 11:42:24 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37176
2025-04-24 11:42:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:24 [info] currentZPosition:0.147
2025-04-24 11:42:25 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:25 [debug] Diagnostics for board 50:
2025-04-24 11:42:25 [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 11:42:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:30 ago, cause: software
2025-04-24 11:42:25 [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 11:42:25 [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 11:42:25 [debug] Moves scheduled 19110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6944, max=17045
Sync err accum 84, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:25 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17271, writes 0 timeouts 0
2025-04-24 11:42:25 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37175
2025-04-24 11:42:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:25 [info] currentZPosition:0.147
2025-04-24 11:42:27 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:27 [debug] Diagnostics for board 50:
2025-04-24 11:42:27 [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 11:42:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:32 ago, cause: software
2025-04-24 11:42:27 [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 11:42:27 [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 11:42:27 [debug] Moves scheduled 19114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6696, max=17857
Sync err accum 78, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935659 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:27 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16705, writes 0 timeouts 0
2025-04-24 11:42:27 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36398/37173
2025-04-24 11:42:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:27 [info] currentZPosition:0.146
2025-04-24 11:42:28 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:28 [debug] Diagnostics for board 50:
2025-04-24 11:42:28 [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 11:42:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:33 ago, cause: software
2025-04-24 11:42:28 [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 11:42:28 [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 11:42:28 [debug] Moves scheduled 19118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 69, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:42:28 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17257, writes 0 timeouts 0
2025-04-24 11:42:28 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37175
2025-04-24 11:42:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:28 [info] currentZPosition:0.146
2025-04-24 11:42:29 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:29 [debug] Diagnostics for board 50:
2025-04-24 11:42:29 [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 11:42:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:34 ago, cause: software
2025-04-24 11:42:29 [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 11:42:29 [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 11:42:29 [debug] Moves scheduled 19122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:29 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16375, writes 0 timeouts 0
2025-04-24 11:42:29 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37177
2025-04-24 11:42:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:30 [info] currentZPosition:0.147
2025-04-24 11:42:31 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:31 [debug] Diagnostics for board 50:
2025-04-24 11:42:31 [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 11:42:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:44:36 ago, cause: software
2025-04-24 11:42:31 [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 11:42:31 [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 11:42:31 [debug] Moves scheduled 19126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=7009, max=17045
Sync err accum 72, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:31 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17481, writes 0 timeouts 0
2025-04-24 11:42:31 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37173
2025-04-24 11:42:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:31 [info] currentZPosition:0.146
2025-04-24 11:42:32 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:32 [debug] Diagnostics for board 50:
2025-04-24 11:42:32 [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 11:42:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:37 ago, cause: software
2025-04-24 11:42:32 [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 11:42:32 [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 11:42:32 [debug] Moves scheduled 19130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:32 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16374, writes 0 timeouts 0
2025-04-24 11:42:32 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36383/37174
2025-04-24 11:42:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:32 [info] currentZPosition:0.147
2025-04-24 11:42:34 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:34 [debug] Diagnostics for board 50:
2025-04-24 11:42:34 [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 11:42:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:38 ago, cause: software
2025-04-24 11:42:34 [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 11:42:34 [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 11:42:34 [debug] Moves scheduled 19134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6147, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:34 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17275, writes 0 timeouts 0
2025-04-24 11:42:34 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37173
2025-04-24 11:42:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:34 [info] currentZPosition:0.146
2025-04-24 11:42:35 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:35 [debug] Diagnostics for board 50:
2025-04-24 11:42:35 [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 11:42:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:40 ago, cause: software
2025-04-24 11:42:35 [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 11:42:35 [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 11:42:35 [debug] Moves scheduled 19138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:35 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16482, writes 0 timeouts 0
2025-04-24 11:42:35 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37176
2025-04-24 11:42:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:35 [info] currentZPosition:0.147
2025-04-24 11:42:36 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:36 [debug] Diagnostics for board 50:
2025-04-24 11:42:36 [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 11:42:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:41 ago, cause: software
2025-04-24 11:42:36 [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 11:42:36 [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 11:42:36 [debug] Moves scheduled 19142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294928834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:36 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17271, writes 0 timeouts 0
2025-04-24 11:42:36 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37176
2025-04-24 11:42:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:36 [info] currentZPosition:0.147
2025-04-24 11:42:38 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:38 [debug] Diagnostics for board 50:
2025-04-24 11:42:38 [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 11:42:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:42 ago, cause: software
2025-04-24 11:42:38 [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 11:42:38 [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 11:42:38 [debug] Moves scheduled 19146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:38 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16409, writes 0 timeouts 0
2025-04-24 11:42:38 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37178
2025-04-24 11:42:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:38 [info] currentZPosition:0.147
2025-04-24 11:42:39 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:39 [debug] Diagnostics for board 50:
2025-04-24 11:42:39 [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 11:42:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:44 ago, cause: software
2025-04-24 11:42:39 [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 11:42:39 [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 11:42:39 [debug] Moves scheduled 19150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5952, max=17045
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:42:39 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17355, writes 0 timeouts 0
2025-04-24 11:42:39 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37175
2025-04-24 11:42:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:39 [info] currentZPosition:0.147
2025-04-24 11:42:40 [debug] Stopped at height 0.148 mm
2025-04-24 11:42:40 [debug] Diagnostics for board 50:
2025-04-24 11:42:40 [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 11:42:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:44:45 ago, cause: software
2025-04-24 11:42:40 [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 11:42:40 [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 11:42:40 [debug] Moves scheduled 19154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:42:40 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min 0, mspos 760, reads 16220, writes 0 timeouts 0
2025-04-24 11:42:40 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36374/37176
2025-04-24 11:42:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:40 [info] currentZPosition:0.148
2025-04-24 11:42:42 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:42 [debug] Diagnostics for board 50:
2025-04-24 11:42:42 [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 11:42:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:46 ago, cause: software
2025-04-24 11:42:42 [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 11:42:42 [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 11:42:42 [debug] Moves scheduled 19158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6637, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:42 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17602, writes 0 timeouts 0
2025-04-24 11:42:42 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:42:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:42 [info] currentZPosition:0.147
2025-04-24 11:42:42 [debug] Stopped at height 0.145 mm
2025-04-24 11:42:43 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:43 [debug] Diagnostics for board 50:
2025-04-24 11:42:43 [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 11:42:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:48 ago, cause: software
2025-04-24 11:42:43 [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 11:42:43 [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 11:42:43 [debug] Moves scheduled 19164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:43 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20388, writes 0 timeouts 0
2025-04-24 11:42:43 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 294, adv 36399/37175
2025-04-24 11:42:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:43 [info] currentZPosition:0.147
2025-04-24 11:42:44 [debug] Stopped at height 0.146 mm
2025-04-24 11:42:45 [debug] Stopped at height 0.148 mm
2025-04-24 11:42:45 [debug] Diagnostics for board 50:
2025-04-24 11:42:45 [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 11:42:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:50 ago, cause: software
2025-04-24 11:42:45 [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 11:42:45 [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 11:42:45 [debug] Moves scheduled 19170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:42:45 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 20839, writes 0 timeouts 0
2025-04-24 11:42:45 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37176
2025-04-24 11:42:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:45 [info] currentZPosition:0.148
2025-04-24 11:42:45 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:47 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:47 [debug] Diagnostics for board 50:
2025-04-24 11:42:47 [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 11:42:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:51 ago, cause: software
2025-04-24 11:42:47 [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 11:42:47 [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 11:42:47 [debug] Moves scheduled 19176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=6818, max=17045
Sync err accum 74, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:47 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 20738, writes 0 timeouts 0
2025-04-24 11:42:47 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37170
2025-04-24 11:42:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:47 [info] currentZPosition:0.147
2025-04-24 11:42:48 [debug] Stopped at height 0.148 mm
2025-04-24 11:42:48 [debug] Diagnostics for board 50:
2025-04-24 11:42:48 [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 11:42:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:53 ago, cause: software
2025-04-24 11:42:48 [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 11:42:48 [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 11:42:48 [debug] Moves scheduled 19180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 74, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:48 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16929, writes 0 timeouts 0
2025-04-24 11:42:48 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37176
2025-04-24 11:42:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:48 [info] currentZPosition:0.148
2025-04-24 11:42:49 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:49 [debug] Diagnostics for board 50:
2025-04-24 11:42:49 [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 11:42:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:54 ago, cause: software
2025-04-24 11:42:49 [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 11:42:49 [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 11:42:49 [debug] Moves scheduled 19184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 71, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:49 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16853, writes 0 timeouts 0
2025-04-24 11:42:49 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36395/37176
2025-04-24 11:42:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:49 [info] currentZPosition:0.147
2025-04-24 11:42:51 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:51 [debug] Diagnostics for board 50:
2025-04-24 11:42:51 [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 11:42:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:56 ago, cause: software
2025-04-24 11:42:51 [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 11:42:51 [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 11:42:51 [debug] Moves scheduled 19188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6355, max=17045
Sync err accum 66, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:42:51 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17212, writes 0 timeouts 0
2025-04-24 11:42:51 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37174
2025-04-24 11:42:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:51 [info] currentZPosition:0.147
2025-04-24 11:42:52 [debug] Stopped at height 0.148 mm
2025-04-24 11:42:52 [debug] Diagnostics for board 50:
2025-04-24 11:42:52 [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 11:42:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:57 ago, cause: software
2025-04-24 11:42:52 [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 11:42:52 [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 11:42:52 [debug] Moves scheduled 19192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:52 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16459, writes 0 timeouts 0
2025-04-24 11:42:52 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36406/37177
2025-04-24 11:42:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:52 [info] currentZPosition:0.148
2025-04-24 11:42:53 [debug] Stopped at height 0.148 mm
2025-04-24 11:42:53 [debug] Diagnostics for board 50:
2025-04-24 11:42:53 [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 11:42:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:44:58 ago, cause: software
2025-04-24 11:42:53 [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 11:42:53 [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 11:42:53 [debug] Moves scheduled 19196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 73, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:42:53 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17315, writes 0 timeouts 0
2025-04-24 11:42:53 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37173
2025-04-24 11:42:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:53 [info] currentZPosition:0.148
2025-04-24 11:42:55 [debug] Stopped at height 0.148 mm
2025-04-24 11:42:55 [debug] Diagnostics for board 50:
2025-04-24 11:42:55 [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 11:42:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:00 ago, cause: software
2025-04-24 11:42:55 [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 11:42:55 [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 11:42:55 [debug] Moves scheduled 19200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6696, max=18292
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:55 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16623, writes 0 timeouts 0
2025-04-24 11:42:55 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37175
2025-04-24 11:42:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:55 [info] currentZPosition:0.148
2025-04-24 11:42:56 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:56 [debug] Diagnostics for board 50:
2025-04-24 11:42:56 [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 11:42:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:01 ago, cause: software
2025-04-24 11:42:56 [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 11:42:56 [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 11:42:56 [debug] Moves scheduled 19204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:56 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17301, writes 0 timeouts 0
2025-04-24 11:42:56 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 11:42:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:56 [info] currentZPosition:0.147
2025-04-24 11:42:57 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:57 [debug] Diagnostics for board 50:
2025-04-24 11:42:57 [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 11:42:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:02 ago, cause: software
2025-04-24 11:42:57 [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 11:42:57 [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 11:42:57 [debug] Moves scheduled 19208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:57 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16652, writes 0 timeouts 0
2025-04-24 11:42:57 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37173
2025-04-24 11:42:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:58 [info] currentZPosition:0.147
2025-04-24 11:42:59 [debug] Stopped at height 0.147 mm
2025-04-24 11:42:59 [debug] Diagnostics for board 50:
2025-04-24 11:42:59 [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 11:42:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:04 ago, cause: software
2025-04-24 11:42:59 [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 11:42:59 [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 11:42:59 [debug] Moves scheduled 19212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 83, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:42:59 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17038, writes 0 timeouts 0
2025-04-24 11:42:59 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36095/37172
2025-04-24 11:42:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:42:59 [info] currentZPosition:0.147
2025-04-24 11:43:00 [debug] Stopped at height 0.145 mm
2025-04-24 11:43:00 [debug] Diagnostics for board 50:
2025-04-24 11:43:00 [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 11:43:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:05 ago, cause: software
2025-04-24 11:43:00 [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 11:43:00 [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 11:43:00 [debug] Moves scheduled 19216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=18292
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:00 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17198, writes 0 timeouts 0
2025-04-24 11:43:00 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36285/37178
2025-04-24 11:43:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:00 [info] currentZPosition:0.145
2025-04-24 11:43:01 [debug] Stopped at height 0.145 mm
2025-04-24 11:43:02 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:02 [debug] Diagnostics for board 50:
2025-04-24 11:43:02 [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 11:43:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:07 ago, cause: software
2025-04-24 11:43:02 [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 11:43:02 [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 11:43:02 [debug] Moves scheduled 19222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 73, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:02 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20430, writes 0 timeouts 0
2025-04-24 11:43:02 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36112/37177
2025-04-24 11:43:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:02 [info] currentZPosition:0.148
2025-04-24 11:43:02 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:03 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:03 [debug] Diagnostics for board 50:
2025-04-24 11:43:03 [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 11:43:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:45:08 ago, cause: software
2025-04-24 11:43:03 [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 11:43:03 [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 11:43:03 [debug] Moves scheduled 19228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=18292
Sync err accum 62, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:03 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 20546, writes 0 timeouts 0
2025-04-24 11:43:03 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36165/37175
2025-04-24 11:43:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:04 [info] currentZPosition:0.148
2025-04-24 11:43:05 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:05 [debug] Diagnostics for board 50:
2025-04-24 11:43:05 [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 11:43:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:10 ago, cause: software
2025-04-24 11:43:05 [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 11:43:05 [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 11:43:05 [debug] Moves scheduled 19232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 69, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294931790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 11:43:05 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17363, writes 0 timeouts 0
2025-04-24 11:43:05 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37177
2025-04-24 11:43:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:05 [info] currentZPosition:0.147
2025-04-24 11:43:06 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:06 [debug] Diagnostics for board 50:
2025-04-24 11:43:06 [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 11:43:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:11 ago, cause: software
2025-04-24 11:43:06 [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 11:43:06 [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 11:43:06 [debug] Moves scheduled 19236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:43:06 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16795, writes 0 timeouts 0
2025-04-24 11:43:06 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37175
2025-04-24 11:43:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:06 [info] currentZPosition:0.147
2025-04-24 11:43:08 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:08 [debug] Diagnostics for board 50:
2025-04-24 11:43:08 [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 11:43:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:12 ago, cause: software
2025-04-24 11:43:08 [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 11:43:08 [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 11:43:08 [debug] Moves scheduled 19240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 92, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:08 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16783, writes 0 timeouts 0
2025-04-24 11:43:08 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37176
2025-04-24 11:43:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:08 [info] currentZPosition:0.148
2025-04-24 11:43:09 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:09 [debug] Diagnostics for board 50:
2025-04-24 11:43:09 [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 11:43:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:14 ago, cause: software
2025-04-24 11:43:09 [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 11:43:09 [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 11:43:09 [debug] Moves scheduled 19244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:43:09 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16776, writes 0 timeouts 0
2025-04-24 11:43:09 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37172
2025-04-24 11:43:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:09 [info] currentZPosition:0.147
2025-04-24 11:43:10 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:10 [debug] Diagnostics for board 50:
2025-04-24 11:43:10 [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 11:43:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:15 ago, cause: software
2025-04-24 11:43:10 [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 11:43:10 [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 11:43:10 [debug] Moves scheduled 19248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6578, max=17045
Sync err accum 99, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:10 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17213, writes 0 timeouts 0
2025-04-24 11:43:10 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 11:43:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:10 [info] currentZPosition:0.147
2025-04-24 11:43:12 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:12 [debug] Diagnostics for board 50:
2025-04-24 11:43:12 [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 11:43:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:16 ago, cause: software
2025-04-24 11:43:12 [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 11:43:12 [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 11:43:12 [debug] Moves scheduled 19252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:12 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16422, writes 0 timeouts 0
2025-04-24 11:43:12 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36150/37171
2025-04-24 11:43:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:12 [info] currentZPosition:0.148
2025-04-24 11:43:13 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:13 [debug] Diagnostics for board 50:
2025-04-24 11:43:13 [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 11:43:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:18 ago, cause: software
2025-04-24 11:43:13 [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 11:43:13 [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 11:43:13 [debug] Moves scheduled 19256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:13 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17300, writes 0 timeouts 0
2025-04-24 11:43:13 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37174
2025-04-24 11:43:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:13 [info] currentZPosition:0.147
2025-04-24 11:43:14 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:14 [debug] Diagnostics for board 50:
2025-04-24 11:43:14 [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 11:43:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:19 ago, cause: software
2025-04-24 11:43:14 [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 11:43:14 [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 11:43:14 [debug] Moves scheduled 19260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6355, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:43:14 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 16254, writes 0 timeouts 0
2025-04-24 11:43:14 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36165/37175
2025-04-24 11:43:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:14 [info] currentZPosition:0.148
2025-04-24 11:43:16 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:16 [debug] Diagnostics for board 50:
2025-04-24 11:43:16 [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 11:43:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:20 ago, cause: software
2025-04-24 11:43:16 [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 11:43:16 [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 11:43:16 [debug] Moves scheduled 19264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:16 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17466, writes 0 timeouts 0
2025-04-24 11:43:16 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36110/37175
2025-04-24 11:43:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:16 [info] currentZPosition:0.147
2025-04-24 11:43:17 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:17 [debug] Diagnostics for board 50:
2025-04-24 11:43:17 [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 11:43:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:22 ago, cause: software
2025-04-24 11:43:17 [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 11:43:17 [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 11:43:17 [debug] Moves scheduled 19268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6355, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:17 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16886, writes 0 timeouts 0
2025-04-24 11:43:17 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36158/37174
2025-04-24 11:43:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:17 [info] currentZPosition:0.147
2025-04-24 11:43:18 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:18 [debug] Diagnostics for board 50:
2025-04-24 11:43:18 [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 11:43:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:23 ago, cause: software
2025-04-24 11:43:18 [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 11:43:18 [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 11:43:18 [debug] Moves scheduled 19272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:18 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16860, writes 0 timeouts 0
2025-04-24 11:43:18 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37179
2025-04-24 11:43:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:18 [info] currentZPosition:0.148
2025-04-24 11:43:20 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:20 [debug] Diagnostics for board 50:
2025-04-24 11:43:20 [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 11:43:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:25 ago, cause: software
2025-04-24 11:43:20 [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 11:43:20 [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 11:43:20 [debug] Moves scheduled 19276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6818, max=18292
Sync err accum 60, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:20 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16756, writes 0 timeouts 0
2025-04-24 11:43:20 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36165/37176
2025-04-24 11:43:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:20 [info] currentZPosition:0.147
2025-04-24 11:43:21 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:21 [debug] Diagnostics for board 50:
2025-04-24 11:43:21 [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 11:43:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:26 ago, cause: software
2025-04-24 11:43:21 [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 11:43:21 [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 11:43:21 [debug] Moves scheduled 19280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 71, peak jitter 0/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:43:21 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17031, writes 0 timeouts 0
2025-04-24 11:43:21 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37177
2025-04-24 11:43:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:21 [info] currentZPosition:0.148
2025-04-24 11:43:22 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:22 [debug] Diagnostics for board 50:
2025-04-24 11:43:22 [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 11:43:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:27 ago, cause: software
2025-04-24 11:43:22 [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 11:43:22 [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 11:43:22 [debug] Moves scheduled 19284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 87, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:43:22 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16951, writes 0 timeouts 0
2025-04-24 11:43:22 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37174
2025-04-24 11:43:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:22 [info] currentZPosition:0.147
2025-04-24 11:43:24 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:24 [debug] Diagnostics for board 50:
2025-04-24 11:43:24 [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 11:43:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:29 ago, cause: software
2025-04-24 11:43:24 [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 11:43:24 [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 11:43:24 [debug] Moves scheduled 19288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 97, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:24 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16873, writes 0 timeouts 0
2025-04-24 11:43:24 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37175
2025-04-24 11:43:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:24 [info] currentZPosition:0.148
2025-04-24 11:43:25 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:25 [debug] Diagnostics for board 50:
2025-04-24 11:43:25 [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 11:43:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:30 ago, cause: software
2025-04-24 11:43:25 [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 11:43:25 [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 11:43:25 [debug] Moves scheduled 19292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:25 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16725, writes 0 timeouts 0
2025-04-24 11:43:25 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37171
2025-04-24 11:43:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:25 [info] currentZPosition:0.147
2025-04-24 11:43:26 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:26 [debug] Diagnostics for board 50:
2025-04-24 11:43:26 [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 11:43:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:31 ago, cause: software
2025-04-24 11:43:26 [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 11:43:26 [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 11:43:26 [debug] Moves scheduled 19296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=18292
Sync err accum 113, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:26 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17020, writes 0 timeouts 0
2025-04-24 11:43:26 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37173
2025-04-24 11:43:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:27 [info] currentZPosition:0.148
2025-04-24 11:43:28 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:28 [debug] Diagnostics for board 50:
2025-04-24 11:43:28 [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 11:43:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:33 ago, cause: software
2025-04-24 11:43:28 [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 11:43:28 [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 11:43:28 [debug] Moves scheduled 19300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6521, max=17045
Sync err accum 117, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:28 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16905, writes 0 timeouts 0
2025-04-24 11:43:28 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36153/37174
2025-04-24 11:43:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:28 [info] currentZPosition:0.147
2025-04-24 11:43:29 [debug] Stopped at height 0.146 mm
2025-04-24 11:43:29 [debug] Diagnostics for board 50:
2025-04-24 11:43:29 [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 11:43:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:34 ago, cause: software
2025-04-24 11:43:29 [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 11:43:29 [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 11:43:29 [debug] Moves scheduled 19304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 119, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:29 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17286, writes 0 timeouts 0
2025-04-24 11:43:29 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37176
2025-04-24 11:43:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:29 [info] currentZPosition:0.146
2025-04-24 11:43:31 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:31 [debug] Diagnostics for board 50:
2025-04-24 11:43:31 [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 11:43:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:35 ago, cause: software
2025-04-24 11:43:31 [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 11:43:31 [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 11:43:31 [debug] Moves scheduled 19308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 121, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:31 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16131, writes 0 timeouts 0
2025-04-24 11:43:31 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36167/37177
2025-04-24 11:43:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:31 [info] currentZPosition:0.148
2025-04-24 11:43:31 [debug] Stopped at height 0.146 mm
2025-04-24 11:43:32 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:32 [debug] Diagnostics for board 50:
2025-04-24 11:43:32 [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 11:43:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:37 ago, cause: software
2025-04-24 11:43:32 [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 11:43:32 [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 11:43:32 [debug] Moves scheduled 19314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
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 4294933106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:43:32 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 21183, writes 0 timeouts 0
2025-04-24 11:43:32 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37176
2025-04-24 11:43:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:32 [info] currentZPosition:0.148
2025-04-24 11:43:33 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:34 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:34 [debug] Diagnostics for board 50:
2025-04-24 11:43:34 [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 11:43:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:39 ago, cause: software
2025-04-24 11:43:34 [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 11:43:34 [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 11:43:34 [debug] Moves scheduled 19320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 113, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:34 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20258, writes 0 timeouts 0
2025-04-24 11:43:34 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36151/37177
2025-04-24 11:43:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:34 [info] currentZPosition:0.148
2025-04-24 11:43:35 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:35 [debug] Diagnostics for board 50:
2025-04-24 11:43:35 [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 11:43:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:40 ago, cause: software
2025-04-24 11:43:35 [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 11:43:35 [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 11:43:35 [debug] Moves scheduled 19324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=18292
Sync err accum 106, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:43:35 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17492, writes 0 timeouts 0
2025-04-24 11:43:35 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37178
2025-04-24 11:43:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:35 [info] currentZPosition:0.147
2025-04-24 11:43:37 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:37 [debug] Diagnostics for board 50:
2025-04-24 11:43:37 [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 11:43:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:41 ago, cause: software
2025-04-24 11:43:37 [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 11:43:37 [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 11:43:37 [debug] Moves scheduled 19328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17857
Sync err accum 93, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:37 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16446, writes 0 timeouts 0
2025-04-24 11:43:37 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37179
2025-04-24 11:43:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:37 [info] currentZPosition:0.148
2025-04-24 11:43:38 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:38 [debug] Diagnostics for board 50:
2025-04-24 11:43:38 [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 11:43:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:43 ago, cause: software
2025-04-24 11:43:38 [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 11:43:38 [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 11:43:38 [debug] Moves scheduled 19332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17857
Sync err accum 82, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:43:38 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17226, writes 0 timeouts 0
2025-04-24 11:43:38 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37177
2025-04-24 11:43:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:38 [info] currentZPosition:0.148
2025-04-24 11:43:39 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:39 [debug] Diagnostics for board 50:
2025-04-24 11:43:39 [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 11:43:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:44 ago, cause: software
2025-04-24 11:43:39 [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 11:43:39 [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 11:43:39 [debug] Moves scheduled 19336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:39 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16681, writes 0 timeouts 0
2025-04-24 11:43:39 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37177
2025-04-24 11:43:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:39 [info] currentZPosition:0.147
2025-04-24 11:43:41 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:41 [debug] Diagnostics for board 50:
2025-04-24 11:43:41 [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 11:43:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:45 ago, cause: software
2025-04-24 11:43:41 [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 11:43:41 [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 11:43:41 [debug] Moves scheduled 19340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=506, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:41 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17111, writes 11 timeouts 1
2025-04-24 11:43:41 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37178
2025-04-24 11:43:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:41 [info] currentZPosition:0.147
2025-04-24 11:43:42 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:42 [debug] Diagnostics for board 50:
2025-04-24 11:43:42 [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 11:43:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:47 ago, cause: software
2025-04-24 11:43:42 [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 11:43:42 [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 11:43:42 [debug] Moves scheduled 19344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 81, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:42 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16428, writes 0 timeouts 0
2025-04-24 11:43:42 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37174
2025-04-24 11:43:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:42 [info] currentZPosition:0.148
2025-04-24 11:43:43 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:43 [debug] Diagnostics for board 50:
2025-04-24 11:43:43 [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 11:43:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:48 ago, cause: software
2025-04-24 11:43:43 [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 11:43:43 [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 11:43:43 [debug] Moves scheduled 19348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17045
Sync err accum 97, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:43:43 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17138, writes 0 timeouts 0
2025-04-24 11:43:43 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36100/37170
2025-04-24 11:43:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:43 [info] currentZPosition:0.148
2025-04-24 11:43:45 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:45 [debug] Diagnostics for board 50:
2025-04-24 11:43:45 [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 11:43:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:49 ago, cause: software
2025-04-24 11:43:45 [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 11:43:45 [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 11:43:45 [debug] Moves scheduled 19352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 110, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:45 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16365, writes 0 timeouts 0
2025-04-24 11:43:45 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37176
2025-04-24 11:43:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:45 [info] currentZPosition:0.148
2025-04-24 11:43:46 [debug] Stopped at height 0.146 mm
2025-04-24 11:43:46 [debug] Diagnostics for board 50:
2025-04-24 11:43:46 [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 11:43:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:51 ago, cause: software
2025-04-24 11:43:46 [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 11:43:46 [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 11:43:46 [debug] Moves scheduled 19356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 123, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:46 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17808, writes 0 timeouts 0
2025-04-24 11:43:46 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37175
2025-04-24 11:43:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:46 [info] currentZPosition:0.146
2025-04-24 11:43:46 [debug] Stopped at height 0.149 mm
2025-04-24 11:43:48 [debug] Stopped at height 0.149 mm
2025-04-24 11:43:48 [debug] Diagnostics for board 50:
2025-04-24 11:43:48 [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 11:43:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:52 ago, cause: software
2025-04-24 11:43:48 [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 11:43:48 [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 11:43:48 [debug] Moves scheduled 19362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=18292
Sync err accum 126, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:48 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 19796, writes 0 timeouts 0
2025-04-24 11:43:48 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 289, adv 36162/37175
2025-04-24 11:43:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:48 [info] currentZPosition:0.149
2025-04-24 11:43:49 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:49 [debug] Diagnostics for board 50:
2025-04-24 11:43:49 [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 11:43:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:54 ago, cause: software
2025-04-24 11:43:49 [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 11:43:49 [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 11:43:49 [debug] Moves scheduled 19366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 116, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:43:49 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17406, writes 0 timeouts 0
2025-04-24 11:43:49 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 11:43:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:49 [info] currentZPosition:0.148
2025-04-24 11:43:50 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:50 [debug] Diagnostics for board 50:
2025-04-24 11:43:50 [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 11:43:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:55 ago, cause: software
2025-04-24 11:43:50 [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 11:43:50 [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 11:43:50 [debug] Moves scheduled 19370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 108, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:43:50 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16596, writes 0 timeouts 0
2025-04-24 11:43:50 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36167/37177
2025-04-24 11:43:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:50 [info] currentZPosition:0.148
2025-04-24 11:43:52 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:52 [debug] Diagnostics for board 50:
2025-04-24 11:43:52 [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 11:43:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:57 ago, cause: software
2025-04-24 11:43:52 [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 11:43:52 [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 11:43:52 [debug] Moves scheduled 19374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6637, max=17045
Sync err accum 94, peak jitter -2/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:43:52 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17420, writes 0 timeouts 0
2025-04-24 11:43:52 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36114/37176
2025-04-24 11:43:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:52 [info] currentZPosition:0.147
2025-04-24 11:43:53 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:53 [debug] Diagnostics for board 50:
2025-04-24 11:43:53 [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 11:43:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:58 ago, cause: software
2025-04-24 11:43:53 [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 11:43:53 [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 11:43:53 [debug] Moves scheduled 19378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 82, peak jitter -2/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294928519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:53 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16379, writes 0 timeouts 0
2025-04-24 11:43:53 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36287/37179
2025-04-24 11:43:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:53 [info] currentZPosition:0.148
2025-04-24 11:43:54 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:54 [debug] Diagnostics for board 50:
2025-04-24 11:43:54 [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 11:43:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:45:59 ago, cause: software
2025-04-24 11:43:54 [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 11:43:54 [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 11:43:54 [debug] Moves scheduled 19382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 66, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:43:54 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17237, writes 0 timeouts 0
2025-04-24 11:43:54 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36113/37173
2025-04-24 11:43:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:54 [info] currentZPosition:0.148
2025-04-24 11:43:56 [debug] Stopped at height 0.148 mm
2025-04-24 11:43:56 [debug] Diagnostics for board 50:
2025-04-24 11:43:56 [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 11:43:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:01 ago, cause: software
2025-04-24 11:43:56 [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 11:43:56 [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 11:43:56 [debug] Moves scheduled 19386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=81, frequency (Hz): min=6000, max=17857
Sync err accum 65, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:43:56 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16518, writes 0 timeouts 0
2025-04-24 11:43:56 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37177
2025-04-24 11:43:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:56 [info] currentZPosition:0.148
2025-04-24 11:43:57 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:57 [debug] Diagnostics for board 50:
2025-04-24 11:43:57 [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 11:43:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:02 ago, cause: software
2025-04-24 11:43:57 [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 11:43:57 [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 11:43:57 [debug] Moves scheduled 19390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 80, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:43:57 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17619, writes 0 timeouts 0
2025-04-24 11:43:57 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36103/37173
2025-04-24 11:43:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:57 [info] currentZPosition:0.147
2025-04-24 11:43:58 [debug] Stopped at height 0.146 mm
2025-04-24 11:43:59 [debug] Stopped at height 0.147 mm
2025-04-24 11:43:59 [debug] Diagnostics for board 50:
2025-04-24 11:43:59 [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 11:43:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:04 ago, cause: software
2025-04-24 11:43:59 [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 11:43:59 [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 11:43:59 [debug] Moves scheduled 19396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5639, max=17045
Sync err accum 97, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:43:59 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20497, writes 0 timeouts 0
2025-04-24 11:43:59 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36393/37172
2025-04-24 11:43:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:43:59 [info] currentZPosition:0.147
2025-04-24 11:44:00 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:00 [debug] Diagnostics for board 50:
2025-04-24 11:44:00 [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 11:44:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:05 ago, cause: software
2025-04-24 11:44:00 [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 11:44:00 [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 11:44:00 [debug] Moves scheduled 19400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 105, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:00 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16779, writes 0 timeouts 0
2025-04-24 11:44:00 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36097/37174
2025-04-24 11:44:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:00 [info] currentZPosition:0.148
2025-04-24 11:44:01 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:01 [debug] Diagnostics for board 50:
2025-04-24 11:44:01 [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 11:44:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:06 ago, cause: software
2025-04-24 11:44:01 [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 11:44:01 [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 11:44:01 [debug] Moves scheduled 19404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 113, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:01 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16764, writes 0 timeouts 0
2025-04-24 11:44:01 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36403/37175
2025-04-24 11:44:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:02 [info] currentZPosition:0.148
2025-04-24 11:44:03 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:03 [debug] Diagnostics for board 50:
2025-04-24 11:44:03 [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 11:44:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:08 ago, cause: software
2025-04-24 11:44:03 [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 11:44:03 [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 11:44:03 [debug] Moves scheduled 19408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 120, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:03 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17057, writes 0 timeouts 0
2025-04-24 11:44:03 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37175
2025-04-24 11:44:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4556, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:03 [info] currentZPosition:0.148
2025-04-24 11:44:04 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:04 [debug] Diagnostics for board 50:
2025-04-24 11:44:04 [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 11:44:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:09 ago, cause: software
2025-04-24 11:44:04 [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 11:44:04 [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 11:44:04 [debug] Moves scheduled 19412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 126, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:04 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16888, writes 0 timeouts 0
2025-04-24 11:44:04 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36382/37176
2025-04-24 11:44:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:04 [info] currentZPosition:0.147
2025-04-24 11:44:06 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:06 [debug] Diagnostics for board 50:
2025-04-24 11:44:06 [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 11:44:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:10 ago, cause: software
2025-04-24 11:44:06 [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 11:44:06 [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 11:44:06 [debug] Moves scheduled 19416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 123, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:06 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16870, writes 0 timeouts 0
2025-04-24 11:44:06 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37175
2025-04-24 11:44:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:06 [info] currentZPosition:0.148
2025-04-24 11:44:07 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:07 [debug] Diagnostics for board 50:
2025-04-24 11:44:07 [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 11:44:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:12 ago, cause: software
2025-04-24 11:44:07 [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 11:44:07 [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 11:44:07 [debug] Moves scheduled 19420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 115, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:44:07 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16555, writes 0 timeouts 0
2025-04-24 11:44:07 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36404/37175
2025-04-24 11:44:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:07 [info] currentZPosition:0.148
2025-04-24 11:44:08 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:08 [debug] Diagnostics for board 50:
2025-04-24 11:44:08 [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 11:44:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:13 ago, cause: software
2025-04-24 11:44:08 [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 11:44:08 [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 11:44:08 [debug] Moves scheduled 19424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 104, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:44:08 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17465, writes 0 timeouts 0
2025-04-24 11:44:08 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36099/37175
2025-04-24 11:44:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:08 [info] currentZPosition:0.147
2025-04-24 11:44:10 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:10 [debug] Diagnostics for board 50:
2025-04-24 11:44:10 [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 11:44:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:14 ago, cause: software
2025-04-24 11:44:10 [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 11:44:10 [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 11:44:10 [debug] Moves scheduled 19428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17045
Sync err accum 92, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294934833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 11:44:10 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16747, writes 0 timeouts 0
2025-04-24 11:44:10 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37176
2025-04-24 11:44:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:10 [info] currentZPosition:0.147
2025-04-24 11:44:11 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:11 [debug] Diagnostics for board 50:
2025-04-24 11:44:11 [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 11:44:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:16 ago, cause: software
2025-04-24 11:44:11 [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 11:44:11 [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 11:44:11 [debug] Moves scheduled 19432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:11 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16920, writes 0 timeouts 0
2025-04-24 11:44:11 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37177
2025-04-24 11:44:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:11 [info] currentZPosition:0.148
2025-04-24 11:44:12 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:12 [debug] Diagnostics for board 50:
2025-04-24 11:44:12 [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 11:44:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:17 ago, cause: software
2025-04-24 11:44:12 [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 11:44:12 [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 11:44:12 [debug] Moves scheduled 19436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 63, peak jitter -4/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:44:12 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16563, writes 0 timeouts 0
2025-04-24 11:44:12 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36405/37179
2025-04-24 11:44:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:12 [info] currentZPosition:0.148
2025-04-24 11:44:14 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:14 [debug] Diagnostics for board 50:
2025-04-24 11:44:14 [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 11:44:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:19 ago, cause: software
2025-04-24 11:44:14 [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 11:44:14 [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 11:44:14 [debug] Moves scheduled 19440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 68, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:14 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17519, writes 0 timeouts 0
2025-04-24 11:44:14 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37177
2025-04-24 11:44:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:14 [info] currentZPosition:0.147
2025-04-24 11:44:15 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:15 [debug] Diagnostics for board 50:
2025-04-24 11:44:15 [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 11:44:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:20 ago, cause: software
2025-04-24 11:44:15 [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 11:44:15 [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 11:44:15 [debug] Moves scheduled 19444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:15 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 15975, writes 0 timeouts 0
2025-04-24 11:44:15 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37172
2025-04-24 11:44:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:15 [info] currentZPosition:0.149
2025-04-24 11:44:15 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:17 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:17 [debug] Diagnostics for board 50:
2025-04-24 11:44:17 [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 11:44:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:22 ago, cause: software
2025-04-24 11:44:17 [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 11:44:17 [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 11:44:17 [debug] Moves scheduled 19450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:44:17 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 21530, writes 0 timeouts 0
2025-04-24 11:44:17 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37174
2025-04-24 11:44:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:17 [info] currentZPosition:0.147
2025-04-24 11:44:18 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:18 [debug] Diagnostics for board 50:
2025-04-24 11:44:18 [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 11:44:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:23 ago, cause: software
2025-04-24 11:44:18 [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 11:44:18 [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 11:44:18 [debug] Moves scheduled 19454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:44:18 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16375, writes 0 timeouts 0
2025-04-24 11:44:18 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37174
2025-04-24 11:44:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:18 [info] currentZPosition:0.148
2025-04-24 11:44:19 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:19 [debug] Diagnostics for board 50:
2025-04-24 11:44:19 [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 11:44:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:24 ago, cause: software
2025-04-24 11:44:19 [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 11:44:19 [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 11:44:19 [debug] Moves scheduled 19458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:19 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17464, writes 0 timeouts 0
2025-04-24 11:44:19 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:44:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:19 [info] currentZPosition:0.147
2025-04-24 11:44:21 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:21 [debug] Diagnostics for board 50:
2025-04-24 11:44:21 [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 11:44:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:26 ago, cause: software
2025-04-24 11:44:21 [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 11:44:21 [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 11:44:21 [debug] Moves scheduled 19462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:21 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16228, writes 0 timeouts 0
2025-04-24 11:44:21 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37177
2025-04-24 11:44:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4540, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:21 [info] currentZPosition:0.149
2025-04-24 11:44:21 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:22 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:22 [debug] Diagnostics for board 50:
2025-04-24 11:44:22 [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 11:44:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:27 ago, cause: software
2025-04-24 11:44:22 [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 11:44:22 [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 11:44:22 [debug] Moves scheduled 19468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6302, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:22 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 21151, writes 0 timeouts 0
2025-04-24 11:44:22 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36089/37175
2025-04-24 11:44:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:22 [info] currentZPosition:0.148
2025-04-24 11:44:24 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:24 [debug] Diagnostics for board 50:
2025-04-24 11:44:24 [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 11:44:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:29 ago, cause: software
2025-04-24 11:44:24 [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 11:44:24 [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 11:44:24 [debug] Moves scheduled 19472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=18292
Sync err accum 75, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:24 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16906, writes 0 timeouts 0
2025-04-24 11:44:24 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37172
2025-04-24 11:44:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:24 [info] currentZPosition:0.147
2025-04-24 11:44:25 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:25 [debug] Diagnostics for board 50:
2025-04-24 11:44:25 [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 11:44:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:30 ago, cause: software
2025-04-24 11:44:25 [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 11:44:25 [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 11:44:25 [debug] Moves scheduled 19476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:25 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16867, writes 0 timeouts 0
2025-04-24 11:44:25 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36114/37171
2025-04-24 11:44:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:25 [info] currentZPosition:0.148
2025-04-24 11:44:26 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:26 [debug] Diagnostics for board 50:
2025-04-24 11:44:26 [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 11:44:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:31 ago, cause: software
2025-04-24 11:44:26 [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 11:44:26 [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 11:44:26 [debug] Moves scheduled 19480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 65, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:26 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16446, writes 0 timeouts 0
2025-04-24 11:44:26 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37174
2025-04-24 11:44:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:26 [info] currentZPosition:0.149
2025-04-24 11:44:28 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:28 [debug] Diagnostics for board 50:
2025-04-24 11:44:28 [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 11:44:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:33 ago, cause: software
2025-04-24 11:44:28 [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 11:44:28 [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 11:44:28 [debug] Moves scheduled 19484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 78, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:44:28 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17254, writes 0 timeouts 0
2025-04-24 11:44:28 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37174
2025-04-24 11:44:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:28 [info] currentZPosition:0.149
2025-04-24 11:44:29 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:29 [debug] Diagnostics for board 50:
2025-04-24 11:44:29 [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 11:44:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:34 ago, cause: software
2025-04-24 11:44:29 [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 11:44:29 [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 11:44:29 [debug] Moves scheduled 19488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 88, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:44:29 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16802, writes 0 timeouts 0
2025-04-24 11:44:29 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37174
2025-04-24 11:44:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:29 [info] currentZPosition:0.148
2025-04-24 11:44:31 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:31 [debug] Diagnostics for board 50:
2025-04-24 11:44:31 [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 11:44:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:35 ago, cause: software
2025-04-24 11:44:31 [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 11:44:31 [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 11:44:31 [debug] Moves scheduled 19492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:44:31 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17146, writes 0 timeouts 0
2025-04-24 11:44:31 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37174
2025-04-24 11:44:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:31 [info] currentZPosition:0.148
2025-04-24 11:44:32 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:32 [debug] Diagnostics for board 50:
2025-04-24 11:44:32 [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 11:44:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:37 ago, cause: software
2025-04-24 11:44:32 [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 11:44:32 [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 11:44:32 [debug] Moves scheduled 19496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17857
Sync err accum 99, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:44:32 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16930, writes 0 timeouts 0
2025-04-24 11:44:32 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36376/37176
2025-04-24 11:44:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:32 [info] currentZPosition:0.147
2025-04-24 11:44:33 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:33 [debug] Diagnostics for board 50:
2025-04-24 11:44:33 [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 11:44:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:38 ago, cause: software
2025-04-24 11:44:33 [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 11:44:33 [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 11:44:33 [debug] Moves scheduled 19500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 100, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:33 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16847, writes 0 timeouts 0
2025-04-24 11:44:33 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36002/37176
2025-04-24 11:44:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:33 [info] currentZPosition:0.148
2025-04-24 11:44:35 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:35 [debug] Diagnostics for board 50:
2025-04-24 11:44:35 [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 11:44:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:39 ago, cause: software
2025-04-24 11:44:35 [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 11:44:35 [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 11:44:35 [debug] Moves scheduled 19504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 100, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:35 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16640, writes 0 timeouts 0
2025-04-24 11:44:35 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36404/37173
2025-04-24 11:44:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:35 [info] currentZPosition:0.149
2025-04-24 11:44:36 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:36 [debug] Diagnostics for board 50:
2025-04-24 11:44:36 [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 11:44:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:41 ago, cause: software
2025-04-24 11:44:36 [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 11:44:36 [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 11:44:36 [debug] Moves scheduled 19508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 98, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:36 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17256, writes 0 timeouts 0
2025-04-24 11:44:36 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:44:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:36 [info] currentZPosition:0.148
2025-04-24 11:44:37 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:37 [debug] Diagnostics for board 50:
2025-04-24 11:44:37 [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 11:44:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:42 ago, cause: software
2025-04-24 11:44:37 [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 11:44:37 [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 11:44:37 [debug] Moves scheduled 19512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:37 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16788, writes 0 timeouts 0
2025-04-24 11:44:37 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36407/37174
2025-04-24 11:44:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:37 [info] currentZPosition:0.148
2025-04-24 11:44:39 [debug] Stopped at height 0.150 mm
2025-04-24 11:44:39 [debug] Diagnostics for board 50:
2025-04-24 11:44:39 [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 11:44:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:43 ago, cause: software
2025-04-24 11:44:39 [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 11:44:39 [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 11:44:39 [debug] Moves scheduled 19516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6521, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:44:39 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min 0, mspos 696, reads 16531, writes 0 timeouts 0
2025-04-24 11:44:39 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37173
2025-04-24 11:44:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:39 [info] currentZPosition:0.150
2025-04-24 11:44:39 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:40 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:40 [debug] Diagnostics for board 50:
2025-04-24 11:44:40 [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 11:44:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:45 ago, cause: software
2025-04-24 11:44:40 [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 11:44:40 [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 11:44:40 [debug] Moves scheduled 19522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 75, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:44:40 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20874, writes 0 timeouts 0
2025-04-24 11:44:40 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37179
2025-04-24 11:44:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:40 [info] currentZPosition:0.149
2025-04-24 11:44:41 [debug] Stopped at height 0.151 mm
2025-04-24 11:44:41 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:42 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:42 [debug] Diagnostics for board 50:
2025-04-24 11:44:42 [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 11:44:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:47 ago, cause: software
2025-04-24 11:44:42 [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 11:44:42 [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 11:44:42 [debug] Moves scheduled 19530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 62, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:42 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 25060, writes 0 timeouts 0
2025-04-24 11:44:42 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 36107/37177
2025-04-24 11:44:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:42 [info] currentZPosition:0.149
2025-04-24 11:44:43 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:44 [debug] Stopped at height 0.150 mm
2025-04-24 11:44:44 [debug] Diagnostics for board 50:
2025-04-24 11:44:44 [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 11:44:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:49 ago, cause: software
2025-04-24 11:44:44 [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 11:44:44 [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 11:44:44 [debug] Moves scheduled 19536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17857
Sync err accum 78, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:44 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min 0, mspos 808, reads 20337, writes 0 timeouts 0
2025-04-24 11:44:44 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37174
2025-04-24 11:44:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:44 [info] currentZPosition:0.150
2025-04-24 11:44:44 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:46 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:46 [debug] Diagnostics for board 50:
2025-04-24 11:44:46 [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 11:44:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:50 ago, cause: software
2025-04-24 11:44:46 [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 11:44:46 [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 11:44:46 [debug] Moves scheduled 19542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 93, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:46 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 21831, writes 0 timeouts 0
2025-04-24 11:44:46 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37175
2025-04-24 11:44:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:46 [info] currentZPosition:0.147
2025-04-24 11:44:46 [debug] Stopped at height 0.146 mm
2025-04-24 11:44:47 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:47 [debug] Diagnostics for board 50:
2025-04-24 11:44:47 [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 11:44:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:52 ago, cause: software
2025-04-24 11:44:47 [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 11:44:47 [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 11:44:47 [debug] Moves scheduled 19548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 103, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:47 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20479, writes 0 timeouts 0
2025-04-24 11:44:47 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36281/37176
2025-04-24 11:44:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:47 [info] currentZPosition:0.148
2025-04-24 11:44:49 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:49 [debug] Diagnostics for board 50:
2025-04-24 11:44:49 [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 11:44:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:53 ago, cause: software
2025-04-24 11:44:49 [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 11:44:49 [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 11:44:49 [debug] Moves scheduled 19552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294927207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:49 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16842, writes 0 timeouts 0
2025-04-24 11:44:49 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37175
2025-04-24 11:44:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:49 [info] currentZPosition:0.149
2025-04-24 11:44:49 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:50 [debug] Stopped at height 0.147 mm
2025-04-24 11:44:50 [debug] Diagnostics for board 50:
2025-04-24 11:44:50 [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 11:44:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:55 ago, cause: software
2025-04-24 11:44:50 [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 11:44:50 [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 11:44:50 [debug] Moves scheduled 19558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 112, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:44:50 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21027, writes 0 timeouts 0
2025-04-24 11:44:50 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37177
2025-04-24 11:44:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:50 [info] currentZPosition:0.147
2025-04-24 11:44:52 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:52 [debug] Diagnostics for board 50:
2025-04-24 11:44:52 [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 11:44:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:57 ago, cause: software
2025-04-24 11:44:52 [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 11:44:52 [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 11:44:52 [debug] Moves scheduled 19562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=18292
Sync err accum 112, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935412 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:44:52 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17033, writes 0 timeouts 0
2025-04-24 11:44:52 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36095/37177
2025-04-24 11:44:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:52 [info] currentZPosition:0.148
2025-04-24 11:44:53 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:53 [debug] Diagnostics for board 50:
2025-04-24 11:44:53 [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 11:44:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:46:58 ago, cause: software
2025-04-24 11:44:53 [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 11:44:53 [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 11:44:53 [debug] Moves scheduled 19566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 110, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:53 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16120, writes 0 timeouts 0
2025-04-24 11:44:53 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36167/37175
2025-04-24 11:44:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:53 [info] currentZPosition:0.149
2025-04-24 11:44:53 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:55 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:55 [debug] Diagnostics for board 50:
2025-04-24 11:44:55 [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 11:44:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:00 ago, cause: software
2025-04-24 11:44:55 [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 11:44:55 [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 11:44:55 [debug] Moves scheduled 19572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:55 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 21263, writes 0 timeouts 0
2025-04-24 11:44:55 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37177
2025-04-24 11:44:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:55 [info] currentZPosition:0.149
2025-04-24 11:44:56 [debug] Stopped at height 0.149 mm
2025-04-24 11:44:56 [debug] Diagnostics for board 50:
2025-04-24 11:44:56 [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 11:44:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:01 ago, cause: software
2025-04-24 11:44:56 [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 11:44:56 [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 11:44:56 [debug] Moves scheduled 19576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6944, max=17045
Sync err accum 95, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:56 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16418, writes 0 timeouts 0
2025-04-24 11:44:56 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36165/37174
2025-04-24 11:44:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:56 [info] currentZPosition:0.149
2025-04-24 11:44:57 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:57 [debug] Diagnostics for board 50:
2025-04-24 11:44:57 [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 11:44:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:02 ago, cause: software
2025-04-24 11:44:57 [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 11:44:57 [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 11:44:57 [debug] Moves scheduled 19580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6944, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:44:57 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17566, writes 0 timeouts 0
2025-04-24 11:44:57 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37175
2025-04-24 11:44:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:57 [info] currentZPosition:0.148
2025-04-24 11:44:59 [debug] Stopped at height 0.148 mm
2025-04-24 11:44:59 [debug] Diagnostics for board 50:
2025-04-24 11:44:59 [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 11:44:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:04 ago, cause: software
2025-04-24 11:44:59 [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 11:44:59 [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 11:44:59 [debug] Moves scheduled 19584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6818, max=17045
Sync err accum 77, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:44:59 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16436, writes 0 timeouts 0
2025-04-24 11:44:59 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37177
2025-04-24 11:44:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:44:59 [info] currentZPosition:0.148
2025-04-24 11:45:00 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:00 [debug] Diagnostics for board 50:
2025-04-24 11:45:00 [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 11:45:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:05 ago, cause: software
2025-04-24 11:45:00 [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 11:45:00 [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 11:45:00 [debug] Moves scheduled 19588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 65, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:00 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16709, writes 0 timeouts 0
2025-04-24 11:45:00 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37176
2025-04-24 11:45:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:00 [info] currentZPosition:0.150
2025-04-24 11:45:00 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:02 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:02 [debug] Diagnostics for board 50:
2025-04-24 11:45:02 [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 11:45:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:07 ago, cause: software
2025-04-24 11:45:02 [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 11:45:02 [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 11:45:02 [debug] Moves scheduled 19594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 67, peak jitter -3/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:02 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20710, writes 0 timeouts 0
2025-04-24 11:45:02 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36056/37176
2025-04-24 11:45:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:02 [info] currentZPosition:0.149
2025-04-24 11:45:03 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:03 [debug] Diagnostics for board 50:
2025-04-24 11:45:03 [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 11:45:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:08 ago, cause: software
2025-04-24 11:45:03 [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 11:45:03 [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 11:45:03 [debug] Moves scheduled 19598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 83, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:45:03 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17407, writes 0 timeouts 0
2025-04-24 11:45:03 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37173
2025-04-24 11:45:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:03 [info] currentZPosition:0.148
2025-04-24 11:45:04 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:04 [debug] Diagnostics for board 50:
2025-04-24 11:45:04 [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 11:45:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:09 ago, cause: software
2025-04-24 11:45:04 [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 11:45:04 [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 11:45:04 [debug] Moves scheduled 19602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 98, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:04 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16682, writes 0 timeouts 0
2025-04-24 11:45:04 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36148/37174
2025-04-24 11:45:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:05 [info] currentZPosition:0.148
2025-04-24 11:45:06 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:06 [debug] Diagnostics for board 50:
2025-04-24 11:45:06 [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 11:45:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:11 ago, cause: software
2025-04-24 11:45:06 [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 11:45:06 [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 11:45:06 [debug] Moves scheduled 19606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5952, max=17045
Sync err accum 110, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294936167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 11:45:06 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16496, writes 0 timeouts 0
2025-04-24 11:45:06 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37174
2025-04-24 11:45:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:06 [info] currentZPosition:0.150
2025-04-24 11:45:06 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:07 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:07 [debug] Diagnostics for board 50:
2025-04-24 11:45:07 [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 11:45:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:12 ago, cause: software
2025-04-24 11:45:07 [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 11:45:07 [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 11:45:07 [debug] Moves scheduled 19612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 121, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:07 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 20637, writes 0 timeouts 0
2025-04-24 11:45:07 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37174
2025-04-24 11:45:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:07 [info] currentZPosition:0.150
2025-04-24 11:45:09 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:09 [debug] Diagnostics for board 50:
2025-04-24 11:45:09 [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 11:45:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:14 ago, cause: software
2025-04-24 11:45:09 [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 11:45:09 [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 11:45:09 [debug] Moves scheduled 19616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 128, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294926654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:09 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17423, writes 0 timeouts 0
2025-04-24 11:45:09 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36097/37175
2025-04-24 11:45:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:09 [info] currentZPosition:0.149
2025-04-24 11:45:10 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:10 [debug] Diagnostics for board 50:
2025-04-24 11:45:10 [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 11:45:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:15 ago, cause: software
2025-04-24 11:45:10 [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 11:45:10 [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 11:45:10 [debug] Moves scheduled 19620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 116, peak jitter -4/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:10 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16469, writes 0 timeouts 0
2025-04-24 11:45:10 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36169/37175
2025-04-24 11:45:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:10 [info] currentZPosition:0.149
2025-04-24 11:45:11 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:11 [debug] Diagnostics for board 50:
2025-04-24 11:45:11 [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 11:45:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:16 ago, cause: software
2025-04-24 11:45:11 [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 11:45:11 [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 11:45:11 [debug] Moves scheduled 19624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 102, peak jitter -2/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:11 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17173, writes 0 timeouts 0
2025-04-24 11:45:11 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37177
2025-04-24 11:45:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:12 [info] currentZPosition:0.149
2025-04-24 11:45:13 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:13 [debug] Diagnostics for board 50:
2025-04-24 11:45:13 [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 11:45:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:18 ago, cause: software
2025-04-24 11:45:13 [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 11:45:13 [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 11:45:13 [debug] Moves scheduled 19628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6880, max=17857
Sync err accum 91, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:13 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16762, writes 0 timeouts 0
2025-04-24 11:45:13 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37174
2025-04-24 11:45:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:13 [info] currentZPosition:0.149
2025-04-24 11:45:14 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:14 [debug] Diagnostics for board 50:
2025-04-24 11:45:14 [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 11:45:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:19 ago, cause: software
2025-04-24 11:45:14 [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 11:45:14 [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 11:45:14 [debug] Moves scheduled 19632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 76, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:14 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min 0, mspos 824, reads 16740, writes 0 timeouts 0
2025-04-24 11:45:14 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36095/37178
2025-04-24 11:45:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:14 [info] currentZPosition:0.150
2025-04-24 11:45:15 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:16 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:16 [debug] Diagnostics for board 50:
2025-04-24 11:45:16 [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 11:45:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:47:21 ago, cause: software
2025-04-24 11:45:16 [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 11:45:16 [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 11:45:16 [debug] Moves scheduled 19638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=7009, max=17441
Sync err accum 58, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:16 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20851, writes 0 timeouts 0
2025-04-24 11:45:16 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37177
2025-04-24 11:45:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:16 [info] currentZPosition:0.149
2025-04-24 11:45:17 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:17 [debug] Diagnostics for board 50:
2025-04-24 11:45:17 [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 11:45:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:22 ago, cause: software
2025-04-24 11:45:17 [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 11:45:17 [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 11:45:17 [debug] Moves scheduled 19642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=17857
Sync err accum 72, peak jitter -1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:17 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 17039, writes 0 timeouts 0
2025-04-24 11:45:17 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36091/37173
2025-04-24 11:45:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:17 [info] currentZPosition:0.150
2025-04-24 11:45:19 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:19 [debug] Diagnostics for board 50:
2025-04-24 11:45:19 [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 11:45:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:23 ago, cause: software
2025-04-24 11:45:19 [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 11:45:19 [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 11:45:19 [debug] Moves scheduled 19646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=7075, max=17045
Sync err accum 85, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:19 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16668, writes 0 timeouts 0
2025-04-24 11:45:19 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36153/37174
2025-04-24 11:45:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:19 [info] currentZPosition:0.150
2025-04-24 11:45:20 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:20 [debug] Diagnostics for board 50:
2025-04-24 11:45:20 [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 11:45:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:25 ago, cause: software
2025-04-24 11:45:20 [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 11:45:20 [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 11:45:20 [debug] Moves scheduled 19650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 98, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:45:20 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17493, writes 0 timeouts 0
2025-04-24 11:45:20 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37173
2025-04-24 11:45:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:20 [info] currentZPosition:0.149
2025-04-24 11:45:21 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:21 [debug] Diagnostics for board 50:
2025-04-24 11:45:21 [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 11:45:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:26 ago, cause: software
2025-04-24 11:45:21 [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 11:45:21 [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 11:45:21 [debug] Moves scheduled 19654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 105, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:21 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16368, writes 0 timeouts 0
2025-04-24 11:45:21 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37172
2025-04-24 11:45:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:21 [info] currentZPosition:0.149
2025-04-24 11:45:23 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:23 [debug] Diagnostics for board 50:
2025-04-24 11:45:23 [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 11:45:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:27 ago, cause: software
2025-04-24 11:45:23 [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 11:45:23 [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 11:45:23 [debug] Moves scheduled 19658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 113, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:23 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17229, writes 0 timeouts 0
2025-04-24 11:45:23 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 11:45:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:23 [info] currentZPosition:0.149
2025-04-24 11:45:24 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:24 [debug] Diagnostics for board 50:
2025-04-24 11:45:24 [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 11:45:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:29 ago, cause: software
2025-04-24 11:45:24 [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 11:45:24 [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 11:45:24 [debug] Moves scheduled 19662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 120, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:24 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16975, writes 0 timeouts 0
2025-04-24 11:45:24 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36165/37173
2025-04-24 11:45:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:24 [info] currentZPosition:0.148
2025-04-24 11:45:24 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:26 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:26 [debug] Diagnostics for board 50:
2025-04-24 11:45:26 [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 11:45:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:30 ago, cause: software
2025-04-24 11:45:26 [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 11:45:26 [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 11:45:26 [debug] Moves scheduled 19668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6198, max=18292
Sync err accum 122, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:26 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20789, writes 0 timeouts 0
2025-04-24 11:45:26 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36096/37176
2025-04-24 11:45:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:26 [info] currentZPosition:0.149
2025-04-24 11:45:26 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:27 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:27 [debug] Diagnostics for board 50:
2025-04-24 11:45:27 [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 11:45:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:32 ago, cause: software
2025-04-24 11:45:27 [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 11:45:27 [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 11:45:27 [debug] Moves scheduled 19674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6250, max=17045
Sync err accum 122, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:27 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20616, writes 0 timeouts 0
2025-04-24 11:45:27 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37177
2025-04-24 11:45:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:27 [info] currentZPosition:0.149
2025-04-24 11:45:29 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:29 [debug] Diagnostics for board 50:
2025-04-24 11:45:29 [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 11:45:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:33 ago, cause: software
2025-04-24 11:45:29 [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 11:45:29 [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 11:45:29 [debug] Moves scheduled 19678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 117, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:29 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16763, writes 0 timeouts 0
2025-04-24 11:45:29 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37172
2025-04-24 11:45:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:29 [info] currentZPosition:0.150
2025-04-24 11:45:29 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:30 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:30 [debug] Diagnostics for board 50:
2025-04-24 11:45:30 [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 11:45:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:35 ago, cause: software
2025-04-24 11:45:30 [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 11:45:30 [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 11:45:30 [debug] Moves scheduled 19684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 109, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294934561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:30 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20688, writes 0 timeouts 0
2025-04-24 11:45:30 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37177
2025-04-24 11:45:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:30 [info] currentZPosition:0.149
2025-04-24 11:45:32 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:32 [debug] Diagnostics for board 50:
2025-04-24 11:45:32 [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 11:45:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:37 ago, cause: software
2025-04-24 11:45:32 [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 11:45:32 [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 11:45:32 [debug] Moves scheduled 19688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=96, frequency (Hz): min=6756, max=17857
Sync err accum 100, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:32 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17367, writes 0 timeouts 0
2025-04-24 11:45:32 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 11:45:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:32 [info] currentZPosition:0.149
2025-04-24 11:45:33 [debug] Stopped at height 0.151 mm
2025-04-24 11:45:33 [debug] Diagnostics for board 50:
2025-04-24 11:45:33 [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 11:45:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:38 ago, cause: software
2025-04-24 11:45:33 [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 11:45:33 [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 11:45:33 [debug] Moves scheduled 19692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5952, max=17857
Sync err accum 89, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:33 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 15951, writes 0 timeouts 0
2025-04-24 11:45:33 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37177
2025-04-24 11:45:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:33 [info] currentZPosition:0.151
2025-04-24 11:45:33 [debug] Stopped at height 0.151 mm
2025-04-24 11:45:35 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:35 [debug] Diagnostics for board 50:
2025-04-24 11:45:35 [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 11:45:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:40 ago, cause: software
2025-04-24 11:45:35 [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 11:45:35 [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 11:45:35 [debug] Moves scheduled 19698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:35 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 21544, writes 0 timeouts 0
2025-04-24 11:45:35 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37178
2025-04-24 11:45:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:35 [info] currentZPosition:0.149
2025-04-24 11:45:35 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:36 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:36 [debug] Diagnostics for board 50:
2025-04-24 11:45:36 [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 11:45:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:41 ago, cause: software
2025-04-24 11:45:36 [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 11:45:36 [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 11:45:36 [debug] Moves scheduled 19704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 57, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:36 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20628, writes 0 timeouts 0
2025-04-24 11:45:36 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36167/37175
2025-04-24 11:45:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:36 [info] currentZPosition:0.149
2025-04-24 11:45:38 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:38 [debug] Diagnostics for board 50:
2025-04-24 11:45:38 [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 11:45:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:43 ago, cause: software
2025-04-24 11:45:38 [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 11:45:38 [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 11:45:38 [debug] Moves scheduled 19708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5859, max=17045
Sync err accum 69, peak jitter -1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:38 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16900, writes 0 timeouts 0
2025-04-24 11:45:38 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37169
2025-04-24 11:45:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:38 [info] currentZPosition:0.150
2025-04-24 11:45:39 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:39 [debug] Diagnostics for board 50:
2025-04-24 11:45:39 [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 11:45:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:44 ago, cause: software
2025-04-24 11:45:39 [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 11:45:39 [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 11:45:39 [debug] Moves scheduled 19712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:39 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16590, writes 0 timeouts 0
2025-04-24 11:45:39 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37175
2025-04-24 11:45:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:39 [info] currentZPosition:0.150
2025-04-24 11:45:40 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:40 [debug] Diagnostics for board 50:
2025-04-24 11:45:40 [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 11:45:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:45 ago, cause: software
2025-04-24 11:45:40 [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 11:45:40 [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 11:45:40 [debug] Moves scheduled 19716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:45:40 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17242, writes 0 timeouts 0
2025-04-24 11:45:40 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36095/37171
2025-04-24 11:45:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:40 [info] currentZPosition:0.150
2025-04-24 11:45:42 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:42 [debug] Diagnostics for board 50:
2025-04-24 11:45:42 [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 11:45:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:47 ago, cause: software
2025-04-24 11:45:42 [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 11:45:42 [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 11:45:42 [debug] Moves scheduled 19720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 98, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:45:42 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16686, writes 0 timeouts 0
2025-04-24 11:45:42 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36282/37175
2025-04-24 11:45:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:42 [info] currentZPosition:0.150
2025-04-24 11:45:43 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:43 [debug] Diagnostics for board 50:
2025-04-24 11:45:43 [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 11:45:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:48 ago, cause: software
2025-04-24 11:45:43 [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 11:45:43 [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 11:45:43 [debug] Moves scheduled 19724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:43 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17288, writes 0 timeouts 0
2025-04-24 11:45:43 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36110/37173
2025-04-24 11:45:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:43 [info] currentZPosition:0.149
2025-04-24 11:45:44 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:44 [debug] Diagnostics for board 50:
2025-04-24 11:45:44 [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 11:45:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:49 ago, cause: software
2025-04-24 11:45:44 [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 11:45:44 [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 11:45:44 [debug] Moves scheduled 19728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 103, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:44 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16524, writes 0 timeouts 0
2025-04-24 11:45:44 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37174
2025-04-24 11:45:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:45 [info] currentZPosition:0.150
2025-04-24 11:45:46 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:46 [debug] Diagnostics for board 50:
2025-04-24 11:45:46 [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 11:45:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:51 ago, cause: software
2025-04-24 11:45:46 [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 11:45:46 [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 11:45:46 [debug] Moves scheduled 19732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6355, max=17045
Sync err accum 99, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:46 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17148, writes 0 timeouts 0
2025-04-24 11:45:46 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37176
2025-04-24 11:45:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:46 [info] currentZPosition:0.150
2025-04-24 11:45:47 [debug] Stopped at height 0.151 mm
2025-04-24 11:45:47 [debug] Diagnostics for board 50:
2025-04-24 11:45:47 [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 11:45:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:52 ago, cause: software
2025-04-24 11:45:47 [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 11:45:47 [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 11:45:47 [debug] Moves scheduled 19736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 96, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:47 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16516, writes 0 timeouts 0
2025-04-24 11:45:47 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36405/37172
2025-04-24 11:45:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:47 [info] currentZPosition:0.151
2025-04-24 11:45:49 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:49 [debug] Diagnostics for board 50:
2025-04-24 11:45:49 [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 11:45:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:53 ago, cause: software
2025-04-24 11:45:49 [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 11:45:49 [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 11:45:49 [debug] Moves scheduled 19740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:49 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17251, writes 0 timeouts 0
2025-04-24 11:45:49 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37176
2025-04-24 11:45:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:49 [info] currentZPosition:0.150
2025-04-24 11:45:50 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:50 [debug] Diagnostics for board 50:
2025-04-24 11:45:50 [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 11:45:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:55 ago, cause: software
2025-04-24 11:45:50 [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 11:45:50 [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 11:45:50 [debug] Moves scheduled 19744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:45:50 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17271, writes 0 timeouts 0
2025-04-24 11:45:50 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36406/37174
2025-04-24 11:45:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:50 [info] currentZPosition:0.148
2025-04-24 11:45:50 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:52 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:52 [debug] Diagnostics for board 50:
2025-04-24 11:45:52 [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 11:45:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:56 ago, cause: software
2025-04-24 11:45:52 [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 11:45:52 [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 11:45:52 [debug] Moves scheduled 19750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6818, max=17045
Sync err accum 66, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:45:52 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20611, writes 0 timeouts 0
2025-04-24 11:45:52 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36107/37179
2025-04-24 11:45:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:52 [info] currentZPosition:0.150
2025-04-24 11:45:53 [debug] Stopped at height 0.151 mm
2025-04-24 11:45:53 [debug] Diagnostics for board 50:
2025-04-24 11:45:53 [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 11:45:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:58 ago, cause: software
2025-04-24 11:45:53 [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 11:45:53 [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 11:45:53 [debug] Moves scheduled 19754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 66, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:53 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16378, writes 0 timeouts 0
2025-04-24 11:45:53 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37177
2025-04-24 11:45:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:53 [info] currentZPosition:0.151
2025-04-24 11:45:54 [debug] Stopped at height 0.149 mm
2025-04-24 11:45:54 [debug] Diagnostics for board 50:
2025-04-24 11:45:54 [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 11:45:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:47:59 ago, cause: software
2025-04-24 11:45:54 [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 11:45:54 [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 11:45:54 [debug] Moves scheduled 19758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:54 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17781, writes 0 timeouts 0
2025-04-24 11:45:54 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36109/37176
2025-04-24 11:45:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:54 [info] currentZPosition:0.149
2025-04-24 11:45:55 [debug] Stopped at height 0.151 mm
2025-04-24 11:45:56 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:56 [debug] Diagnostics for board 50:
2025-04-24 11:45:56 [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 11:45:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:01 ago, cause: software
2025-04-24 11:45:56 [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 11:45:56 [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 11:45:56 [debug] Moves scheduled 19764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:45:56 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20627, writes 0 timeouts 0
2025-04-24 11:45:56 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37176
2025-04-24 11:45:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:56 [info] currentZPosition:0.148
2025-04-24 11:45:56 [debug] Stopped at height 0.148 mm
2025-04-24 11:45:58 [debug] Stopped at height 0.152 mm
2025-04-24 11:45:58 [debug] Diagnostics for board 50:
2025-04-24 11:45:58 [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 11:45:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:02 ago, cause: software
2025-04-24 11:45:58 [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 11:45:58 [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 11:45:58 [debug] Moves scheduled 19770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6521, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:45:58 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 20038, writes 0 timeouts 0
2025-04-24 11:45:58 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37177
2025-04-24 11:45:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:45:58 [info] currentZPosition:0.152
2025-04-24 11:45:58 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:58 [debug] Stopped at height 0.152 mm
2025-04-24 11:45:59 [debug] Stopped at height 0.150 mm
2025-04-24 11:45:59 [debug] Stopped at height 0.149 mm
2025-04-24 11:46:00 [debug] Stopped at height 0.149 mm
2025-04-24 11:46:00 [debug] Diagnostics for board 50:
2025-04-24 11:46:00 [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 11:46:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:05 ago, cause: software
2025-04-24 11:46:00 [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 11:46:00 [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 11:46:00 [debug] Moves scheduled 19782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:00 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 33689, writes 0 timeouts 0
2025-04-24 11:46:00 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36405/37177
2025-04-24 11:46:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:00 [info] currentZPosition:0.149
2025-04-24 11:46:02 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:02 [debug] Diagnostics for board 50:
2025-04-24 11:46:02 [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 11:46:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:06 ago, cause: software
2025-04-24 11:46:02 [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 11:46:02 [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 11:46:02 [debug] Moves scheduled 19786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17441
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:02 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16549, writes 0 timeouts 0
2025-04-24 11:46:02 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36113/37172
2025-04-24 11:46:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:02 [info] currentZPosition:0.151
2025-04-24 11:46:02 [debug] Stopped at height 0.150 mm
2025-04-24 11:46:03 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:03 [debug] Diagnostics for board 50:
2025-04-24 11:46:03 [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 11:46:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:08 ago, cause: software
2025-04-24 11:46:03 [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 11:46:03 [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 11:46:03 [debug] Moves scheduled 19792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:03 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 20550, writes 0 timeouts 0
2025-04-24 11:46:03 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37176
2025-04-24 11:46:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:03 [info] currentZPosition:0.151
2025-04-24 11:46:04 [debug] Stopped at height 0.149 mm
2025-04-24 11:46:05 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:05 [debug] Diagnostics for board 50:
2025-04-24 11:46:05 [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 11:46:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:10 ago, cause: software
2025-04-24 11:46:05 [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 11:46:05 [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 11:46:05 [debug] Moves scheduled 19798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:05 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20803, writes 0 timeouts 0
2025-04-24 11:46:05 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36095/37177
2025-04-24 11:46:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:05 [info] currentZPosition:0.152
2025-04-24 11:46:05 [debug] Stopped at height 0.149 mm
2025-04-24 11:46:07 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:07 [debug] Diagnostics for board 50:
2025-04-24 11:46:07 [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 11:46:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:11 ago, cause: software
2025-04-24 11:46:07 [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 11:46:07 [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 11:46:07 [debug] Moves scheduled 19804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:07 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 20501, writes 0 timeouts 0
2025-04-24 11:46:07 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36397/37177
2025-04-24 11:46:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:07 [info] currentZPosition:0.152
2025-04-24 11:46:07 [debug] Stopped at height 0.150 mm
2025-04-24 11:46:08 [debug] Stopped at height 0.150 mm
2025-04-24 11:46:08 [debug] Diagnostics for board 50:
2025-04-24 11:46:08 [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 11:46:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:13 ago, cause: software
2025-04-24 11:46:08 [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 11:46:08 [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 11:46:08 [debug] Moves scheduled 19810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:46:08 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 21566, writes 0 timeouts 0
2025-04-24 11:46:08 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37176
2025-04-24 11:46:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:08 [info] currentZPosition:0.150
2025-04-24 11:46:10 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:10 [debug] Diagnostics for board 50:
2025-04-24 11:46:10 [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 11:46:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:14 ago, cause: software
2025-04-24 11:46:10 [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 11:46:10 [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 11:46:10 [debug] Moves scheduled 19814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:10 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 15976, writes 0 timeouts 0
2025-04-24 11:46:10 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36405/37178
2025-04-24 11:46:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:10 [info] currentZPosition:0.152
2025-04-24 11:46:10 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:11 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:11 [debug] Diagnostics for board 50:
2025-04-24 11:46:11 [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 11:46:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:16 ago, cause: software
2025-04-24 11:46:11 [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 11:46:11 [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 11:46:11 [debug] Moves scheduled 19820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:11 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 21244, writes 0 timeouts 0
2025-04-24 11:46:11 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37177
2025-04-24 11:46:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:11 [info] currentZPosition:0.152
2025-04-24 11:46:13 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:13 [debug] Diagnostics for board 50:
2025-04-24 11:46:13 [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 11:46:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:17 ago, cause: software
2025-04-24 11:46:13 [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 11:46:13 [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 11:46:13 [debug] Moves scheduled 19824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931421 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:13 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16654, writes 0 timeouts 0
2025-04-24 11:46:13 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36396/37175
2025-04-24 11:46:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:13 [info] currentZPosition:0.151
2025-04-24 11:46:14 [debug] Stopped at height 0.153 mm
2025-04-24 11:46:14 [debug] Diagnostics for board 50:
2025-04-24 11:46:14 [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 11:46:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:19 ago, cause: software
2025-04-24 11:46:14 [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 11:46:14 [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 11:46:14 [debug] Moves scheduled 19828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:14 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min 0, mspos 776, reads 16796, writes 0 timeouts 0
2025-04-24 11:46:14 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37174
2025-04-24 11:46:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:14 [info] currentZPosition:0.153
2025-04-24 11:46:15 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:15 [debug] Diagnostics for board 50:
2025-04-24 11:46:15 [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 11:46:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:20 ago, cause: software
2025-04-24 11:46:15 [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 11:46:15 [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 11:46:15 [debug] Moves scheduled 19832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 75, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:46:15 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17055, writes 0 timeouts 0
2025-04-24 11:46:15 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37172
2025-04-24 11:46:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:15 [info] currentZPosition:0.151
2025-04-24 11:46:16 [debug] Stopped at height 0.153 mm
2025-04-24 11:46:17 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:17 [debug] Diagnostics for board 50:
2025-04-24 11:46:17 [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 11:46:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:22 ago, cause: software
2025-04-24 11:46:17 [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 11:46:17 [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 11:46:17 [debug] Moves scheduled 19838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:46:17 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20888, writes 0 timeouts 0
2025-04-24 11:46:17 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37174
2025-04-24 11:46:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:17 [info] currentZPosition:0.152
2025-04-24 11:46:17 [debug] Stopped at height 0.150 mm
2025-04-24 11:46:18 [debug] Stopped at height 0.150 mm
2025-04-24 11:46:19 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:19 [debug] Diagnostics for board 50:
2025-04-24 11:46:19 [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 11:46:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:24 ago, cause: software
2025-04-24 11:46:19 [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 11:46:19 [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 11:46:19 [debug] Moves scheduled 19846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 79, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:19 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 24436, writes 0 timeouts 0
2025-04-24 11:46:19 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 286, adv 36398/37176
2025-04-24 11:46:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:19 [info] currentZPosition:0.152
2025-04-24 11:46:19 [debug] Stopped at height 0.154 mm
2025-04-24 11:46:20 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:21 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:21 [debug] Diagnostics for board 50:
2025-04-24 11:46:21 [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 11:46:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:48:26 ago, cause: software
2025-04-24 11:46:21 [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 11:46:21 [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 11:46:21 [debug] Moves scheduled 19854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=17857
Sync err accum 69, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:21 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 25230, writes 0 timeouts 0
2025-04-24 11:46:21 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36104/37176
2025-04-24 11:46:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:21 [info] currentZPosition:0.152
2025-04-24 11:46:22 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:22 [debug] Diagnostics for board 50:
2025-04-24 11:46:22 [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 11:46:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:27 ago, cause: software
2025-04-24 11:46:22 [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 11:46:22 [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 11:46:22 [debug] Moves scheduled 19858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 63, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:22 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16593, writes 0 timeouts 0
2025-04-24 11:46:22 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36405/37178
2025-04-24 11:46:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:22 [info] currentZPosition:0.152
2025-04-24 11:46:24 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:24 [debug] Diagnostics for board 50:
2025-04-24 11:46:24 [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 11:46:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:28 ago, cause: software
2025-04-24 11:46:24 [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 11:46:24 [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 11:46:24 [debug] Moves scheduled 19862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 68, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:24 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17147, writes 0 timeouts 0
2025-04-24 11:46:24 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36096/37177
2025-04-24 11:46:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:24 [info] currentZPosition:0.152
2025-04-24 11:46:25 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:25 [debug] Diagnostics for board 50:
2025-04-24 11:46:25 [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 11:46:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:30 ago, cause: software
2025-04-24 11:46:25 [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 11:46:25 [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 11:46:25 [debug] Moves scheduled 19866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17441
Sync err accum 76, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:25 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16547, writes 0 timeouts 0
2025-04-24 11:46:25 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36401/37175
2025-04-24 11:46:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:25 [info] currentZPosition:0.152
2025-04-24 11:46:26 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:26 [debug] Diagnostics for board 50:
2025-04-24 11:46:26 [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 11:46:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:31 ago, cause: software
2025-04-24 11:46:26 [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 11:46:26 [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 11:46:26 [debug] Moves scheduled 19870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:26 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17386, writes 0 timeouts 0
2025-04-24 11:46:26 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37171
2025-04-24 11:46:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:26 [info] currentZPosition:0.152
2025-04-24 11:46:28 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:28 [debug] Diagnostics for board 50:
2025-04-24 11:46:28 [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 11:46:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:32 ago, cause: software
2025-04-24 11:46:28 [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 11:46:28 [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 11:46:28 [debug] Moves scheduled 19874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934346 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:28 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16712, writes 0 timeouts 0
2025-04-24 11:46:28 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36406/37175
2025-04-24 11:46:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:28 [info] currentZPosition:0.151
2025-04-24 11:46:29 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:29 [debug] Diagnostics for board 50:
2025-04-24 11:46:29 [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 11:46:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:34 ago, cause: software
2025-04-24 11:46:29 [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 11:46:29 [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 11:46:29 [debug] Moves scheduled 19878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 84, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:29 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16913, writes 0 timeouts 0
2025-04-24 11:46:29 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36091/37176
2025-04-24 11:46:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:29 [info] currentZPosition:0.152
2025-04-24 11:46:30 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:30 [debug] Diagnostics for board 50:
2025-04-24 11:46:30 [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 11:46:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:35 ago, cause: software
2025-04-24 11:46:30 [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 11:46:30 [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 11:46:30 [debug] Moves scheduled 19882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 83, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:30 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16935, writes 0 timeouts 0
2025-04-24 11:46:30 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37174
2025-04-24 11:46:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:30 [info] currentZPosition:0.151
2025-04-24 11:46:32 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:32 [debug] Diagnostics for board 50:
2025-04-24 11:46:32 [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 11:46:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:37 ago, cause: software
2025-04-24 11:46:32 [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 11:46:32 [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 11:46:32 [debug] Moves scheduled 19886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6048, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:32 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16826, writes 0 timeouts 0
2025-04-24 11:46:32 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37176
2025-04-24 11:46:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:32 [info] currentZPosition:0.152
2025-04-24 11:46:33 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:33 [debug] Diagnostics for board 50:
2025-04-24 11:46:33 [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 11:46:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:38 ago, cause: software
2025-04-24 11:46:33 [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 11:46:33 [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 11:46:33 [debug] Moves scheduled 19890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:33 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16968, writes 0 timeouts 0
2025-04-24 11:46:33 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37176
2025-04-24 11:46:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:33 [info] currentZPosition:0.151
2025-04-24 11:46:34 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:34 [debug] Diagnostics for board 50:
2025-04-24 11:46:34 [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 11:46:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:39 ago, cause: software
2025-04-24 11:46:34 [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 11:46:34 [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 11:46:34 [debug] Moves scheduled 19894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:34 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16865, writes 0 timeouts 0
2025-04-24 11:46:34 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36099/37178
2025-04-24 11:46:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:34 [info] currentZPosition:0.152
2025-04-24 11:46:36 [debug] Stopped at height 0.153 mm
2025-04-24 11:46:36 [debug] Diagnostics for board 50:
2025-04-24 11:46:36 [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 11:46:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:41 ago, cause: software
2025-04-24 11:46:36 [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 11:46:36 [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 11:46:36 [debug] Moves scheduled 19898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6578, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:36 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16484, writes 0 timeouts 0
2025-04-24 11:46:36 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36398/37175
2025-04-24 11:46:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:36 [info] currentZPosition:0.153
2025-04-24 11:46:37 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:37 [debug] Diagnostics for board 50:
2025-04-24 11:46:37 [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 11:46:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:42 ago, cause: software
2025-04-24 11:46:37 [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 11:46:37 [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 11:46:37 [debug] Moves scheduled 19902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:46:37 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 17293, writes 0 timeouts 0
2025-04-24 11:46:37 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37173
2025-04-24 11:46:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:37 [info] currentZPosition:0.152
2025-04-24 11:46:38 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:38 [debug] Diagnostics for board 50:
2025-04-24 11:46:38 [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 11:46:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:43 ago, cause: software
2025-04-24 11:46:38 [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 11:46:38 [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 11:46:38 [debug] Moves scheduled 19906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 85, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:46:38 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16822, writes 0 timeouts 0
2025-04-24 11:46:38 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36282/37172
2025-04-24 11:46:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:39 [info] currentZPosition:0.152
2025-04-24 11:46:40 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:40 [debug] Diagnostics for board 50:
2025-04-24 11:46:40 [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 11:46:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:45 ago, cause: software
2025-04-24 11:46:40 [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 11:46:40 [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 11:46:40 [debug] Moves scheduled 19910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 94, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:40 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17139, writes 0 timeouts 0
2025-04-24 11:46:40 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37169
2025-04-24 11:46:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:40 [info] currentZPosition:0.152
2025-04-24 11:46:41 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:41 [debug] Diagnostics for board 50:
2025-04-24 11:46:41 [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 11:46:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:46 ago, cause: software
2025-04-24 11:46:41 [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 11:46:41 [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 11:46:41 [debug] Moves scheduled 19914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=545, max=17045
Sync err accum 102, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:41 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16534, writes 11 timeouts 1
2025-04-24 11:46:41 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37174
2025-04-24 11:46:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:41 [info] currentZPosition:0.152
2025-04-24 11:46:43 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:43 [debug] Diagnostics for board 50:
2025-04-24 11:46:43 [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 11:46:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:47 ago, cause: software
2025-04-24 11:46:43 [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 11:46:43 [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 11:46:43 [debug] Moves scheduled 19918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:43 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17099, writes 0 timeouts 0
2025-04-24 11:46:43 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37173
2025-04-24 11:46:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:43 [info] currentZPosition:0.152
2025-04-24 11:46:44 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:44 [debug] Diagnostics for board 50:
2025-04-24 11:46:44 [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 11:46:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:49 ago, cause: software
2025-04-24 11:46:44 [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 11:46:44 [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 11:46:44 [debug] Moves scheduled 19922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:44 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16677, writes 0 timeouts 0
2025-04-24 11:46:44 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37173
2025-04-24 11:46:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:44 [info] currentZPosition:0.152
2025-04-24 11:46:45 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:45 [debug] Diagnostics for board 50:
2025-04-24 11:46:45 [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 11:46:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:50 ago, cause: software
2025-04-24 11:46:45 [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 11:46:45 [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 11:46:45 [debug] Moves scheduled 19926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 107, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:45 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17379, writes 0 timeouts 0
2025-04-24 11:46:45 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36095/37174
2025-04-24 11:46:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:45 [info] currentZPosition:0.151
2025-04-24 11:46:47 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:47 [debug] Diagnostics for board 50:
2025-04-24 11:46:47 [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 11:46:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:51 ago, cause: software
2025-04-24 11:46:47 [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 11:46:47 [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 11:46:47 [debug] Moves scheduled 19930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 105, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:47 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16339, writes 0 timeouts 0
2025-04-24 11:46:47 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36158/37173
2025-04-24 11:46:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:47 [info] currentZPosition:0.152
2025-04-24 11:46:48 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:48 [debug] Diagnostics for board 50:
2025-04-24 11:46:48 [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 11:46:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:53 ago, cause: software
2025-04-24 11:46:48 [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 11:46:48 [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 11:46:48 [debug] Moves scheduled 19934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=490, max=17857
Sync err accum 99, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:46:48 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17297, writes 11 timeouts 1
2025-04-24 11:46:48 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36106/37177
2025-04-24 11:46:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:48 [info] currentZPosition:0.151
2025-04-24 11:46:49 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:49 [debug] Diagnostics for board 50:
2025-04-24 11:46:49 [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 11:46:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:54 ago, cause: software
2025-04-24 11:46:49 [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 11:46:49 [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 11:46:49 [debug] Moves scheduled 19938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6818, max=18292
Sync err accum 89, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:49 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16756, writes 0 timeouts 0
2025-04-24 11:46:49 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36162/37173
2025-04-24 11:46:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:49 [info] currentZPosition:0.151
2025-04-24 11:46:51 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:51 [debug] Diagnostics for board 50:
2025-04-24 11:46:51 [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 11:46:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:55 ago, cause: software
2025-04-24 11:46:51 [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 11:46:51 [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 11:46:51 [debug] Moves scheduled 19942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=501, max=17441
Sync err accum 77, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:51 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17042, writes 11 timeouts 1
2025-04-24 11:46:51 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36111/37175
2025-04-24 11:46:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:51 [info] currentZPosition:0.151
2025-04-24 11:46:52 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:52 [debug] Diagnostics for board 50:
2025-04-24 11:46:52 [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 11:46:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:57 ago, cause: software
2025-04-24 11:46:52 [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 11:46:52 [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 11:46:52 [debug] Moves scheduled 19946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 64, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:52 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16317, writes 0 timeouts 0
2025-04-24 11:46:52 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36152/37178
2025-04-24 11:46:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:52 [info] currentZPosition:0.152
2025-04-24 11:46:53 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:53 [debug] Diagnostics for board 50:
2025-04-24 11:46:53 [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 11:46:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:58 ago, cause: software
2025-04-24 11:46:53 [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 11:46:53 [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 11:46:53 [debug] Moves scheduled 19950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6355, max=17045
Sync err accum 65, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:53 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17232, writes 0 timeouts 0
2025-04-24 11:46:53 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37176
2025-04-24 11:46:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:53 [info] currentZPosition:0.152
2025-04-24 11:46:55 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:55 [debug] Diagnostics for board 50:
2025-04-24 11:46:55 [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 11:46:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:48:59 ago, cause: software
2025-04-24 11:46:55 [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 11:46:55 [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 11:46:55 [debug] Moves scheduled 19954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=5952, max=17857
Sync err accum 80, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:46:55 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16345, writes 0 timeouts 0
2025-04-24 11:46:55 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36157/37170
2025-04-24 11:46:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:55 [info] currentZPosition:0.152
2025-04-24 11:46:56 [debug] Stopped at height 0.151 mm
2025-04-24 11:46:56 [debug] Diagnostics for board 50:
2025-04-24 11:46:56 [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 11:46:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:01 ago, cause: software
2025-04-24 11:46:56 [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 11:46:56 [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 11:46:56 [debug] Moves scheduled 19958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 94, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:46:56 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17660, writes 0 timeouts 0
2025-04-24 11:46:56 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37175
2025-04-24 11:46:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:56 [info] currentZPosition:0.151
2025-04-24 11:46:56 [debug] Stopped at height 0.150 mm
2025-04-24 11:46:58 [debug] Stopped at height 0.152 mm
2025-04-24 11:46:58 [debug] Diagnostics for board 50:
2025-04-24 11:46:58 [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 11:46:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:03 ago, cause: software
2025-04-24 11:46:58 [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 11:46:58 [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 11:46:58 [debug] Moves scheduled 19964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 107, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:58 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20191, writes 0 timeouts 0
2025-04-24 11:46:58 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37170
2025-04-24 11:46:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:58 [info] currentZPosition:0.152
2025-04-24 11:46:58 [debug] Stopped at height 0.153 mm
2025-04-24 11:46:59 [debug] Stopped at height 0.153 mm
2025-04-24 11:46:59 [debug] Diagnostics for board 50:
2025-04-24 11:46:59 [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 11:46:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:04 ago, cause: software
2025-04-24 11:46:59 [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 11:46:59 [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 11:46:59 [debug] Moves scheduled 19970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 118, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:46:59 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 20848, writes 0 timeouts 0
2025-04-24 11:46:59 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36109/37173
2025-04-24 11:46:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:46:59 [info] currentZPosition:0.153
2025-04-24 11:47:01 [debug] Stopped at height 0.151 mm
2025-04-24 11:47:01 [debug] Diagnostics for board 50:
2025-04-24 11:47:01 [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 11:47:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:49:06 ago, cause: software
2025-04-24 11:47:01 [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 11:47:01 [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 11:47:01 [debug] Moves scheduled 19974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6578, max=17045
Sync err accum 123, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:01 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17137, writes 0 timeouts 0
2025-04-24 11:47:01 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37176
2025-04-24 11:47:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:01 [info] currentZPosition:0.151
2025-04-24 11:47:01 [debug] Stopped at height 0.151 mm
2025-04-24 11:47:02 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:02 [debug] Diagnostics for board 50:
2025-04-24 11:47:02 [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 11:47:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:07 ago, cause: software
2025-04-24 11:47:02 [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 11:47:02 [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 11:47:02 [debug] Moves scheduled 19980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 127, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:02 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20706, writes 0 timeouts 0
2025-04-24 11:47:02 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 296, adv 36106/37177
2025-04-24 11:47:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:02 [info] currentZPosition:0.152
2025-04-24 11:47:04 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:04 [debug] Diagnostics for board 50:
2025-04-24 11:47:04 [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 11:47:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:09 ago, cause: software
2025-04-24 11:47:04 [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 11:47:04 [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 11:47:04 [debug] Moves scheduled 19984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 121, peak jitter -2/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:47:04 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16721, writes 0 timeouts 0
2025-04-24 11:47:04 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37178
2025-04-24 11:47:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:04 [info] currentZPosition:0.152
2025-04-24 11:47:05 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:05 [debug] Diagnostics for board 50:
2025-04-24 11:47:05 [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 11:47:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:10 ago, cause: software
2025-04-24 11:47:05 [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 11:47:05 [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 11:47:05 [debug] Moves scheduled 19988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=17045
Sync err accum 114, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:47:05 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16879, writes 0 timeouts 0
2025-04-24 11:47:05 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37175
2025-04-24 11:47:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:05 [info] currentZPosition:0.153
2025-04-24 11:47:06 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:06 [debug] Diagnostics for board 50:
2025-04-24 11:47:06 [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 11:47:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:11 ago, cause: software
2025-04-24 11:47:06 [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 11:47:06 [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 11:47:06 [debug] Moves scheduled 19992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 100, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:47:06 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16494, writes 0 timeouts 0
2025-04-24 11:47:06 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37179
2025-04-24 11:47:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:06 [info] currentZPosition:0.153
2025-04-24 11:47:08 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:08 [debug] Diagnostics for board 50:
2025-04-24 11:47:08 [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 11:47:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:13 ago, cause: software
2025-04-24 11:47:08 [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 11:47:08 [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 11:47:08 [debug] Moves scheduled 19996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 88, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:08 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17645, writes 0 timeouts 0
2025-04-24 11:47:08 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36124/37178
2025-04-24 11:47:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:08 [info] currentZPosition:0.152
2025-04-24 11:47:08 [debug] Stopped at height 0.151 mm
2025-04-24 11:47:09 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:09 [debug] Diagnostics for board 50:
2025-04-24 11:47:09 [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 11:47:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:14 ago, cause: software
2025-04-24 11:47:09 [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 11:47:09 [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 11:47:09 [debug] Moves scheduled 20002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 70, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:09 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20363, writes 0 timeouts 0
2025-04-24 11:47:09 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36169/37179
2025-04-24 11:47:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:10 [info] currentZPosition:0.152
2025-04-24 11:47:11 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:11 [debug] Diagnostics for board 50:
2025-04-24 11:47:11 [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 11:47:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:16 ago, cause: software
2025-04-24 11:47:11 [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 11:47:11 [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 11:47:11 [debug] Moves scheduled 20006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=7009, max=17045
Sync err accum 57, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:47:11 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17006, writes 0 timeouts 0
2025-04-24 11:47:11 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37179
2025-04-24 11:47:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:11 [info] currentZPosition:0.153
2025-04-24 11:47:12 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:12 [debug] Diagnostics for board 50:
2025-04-24 11:47:12 [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 11:47:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:17 ago, cause: software
2025-04-24 11:47:12 [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 11:47:12 [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 11:47:12 [debug] Moves scheduled 20010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 72, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:47:12 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16825, writes 0 timeouts 0
2025-04-24 11:47:12 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36161/37177
2025-04-24 11:47:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:12 [info] currentZPosition:0.152
2025-04-24 11:47:13 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:13 [debug] Diagnostics for board 50:
2025-04-24 11:47:13 [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 11:47:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:18 ago, cause: software
2025-04-24 11:47:13 [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 11:47:13 [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 11:47:13 [debug] Moves scheduled 20014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 87, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294928879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:47:13 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16921, writes 0 timeouts 0
2025-04-24 11:47:13 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37173
2025-04-24 11:47:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:14 [info] currentZPosition:0.153
2025-04-24 11:47:15 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:15 [debug] Diagnostics for board 50:
2025-04-24 11:47:15 [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 11:47:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:20 ago, cause: software
2025-04-24 11:47:15 [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 11:47:15 [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 11:47:15 [debug] Moves scheduled 20018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 98, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:15 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16664, writes 0 timeouts 0
2025-04-24 11:47:15 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36162/37173
2025-04-24 11:47:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:15 [info] currentZPosition:0.153
2025-04-24 11:47:16 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:16 [debug] Diagnostics for board 50:
2025-04-24 11:47:16 [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 11:47:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:21 ago, cause: software
2025-04-24 11:47:16 [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 11:47:16 [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 11:47:16 [debug] Moves scheduled 20022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 106, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:16 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17198, writes 0 timeouts 0
2025-04-24 11:47:16 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37172
2025-04-24 11:47:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:16 [info] currentZPosition:0.152
2025-04-24 11:47:18 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:18 [debug] Diagnostics for board 50:
2025-04-24 11:47:18 [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 11:47:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:22 ago, cause: software
2025-04-24 11:47:18 [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 11:47:18 [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 11:47:18 [debug] Moves scheduled 20026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 113, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:18 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16529, writes 0 timeouts 0
2025-04-24 11:47:18 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36165/37174
2025-04-24 11:47:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:18 [info] currentZPosition:0.153
2025-04-24 11:47:19 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:19 [debug] Diagnostics for board 50:
2025-04-24 11:47:19 [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 11:47:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:24 ago, cause: software
2025-04-24 11:47:19 [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 11:47:19 [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 11:47:19 [debug] Moves scheduled 20030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 120, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:19 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17365, writes 0 timeouts 0
2025-04-24 11:47:19 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37171
2025-04-24 11:47:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:19 [info] currentZPosition:0.152
2025-04-24 11:47:20 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:20 [debug] Diagnostics for board 50:
2025-04-24 11:47:20 [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 11:47:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:49:25 ago, cause: software
2025-04-24 11:47:20 [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 11:47:20 [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 11:47:20 [debug] Moves scheduled 20034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 122, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:20 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16384, writes 0 timeouts 0
2025-04-24 11:47:20 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36163/37171
2025-04-24 11:47:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:20 [info] currentZPosition:0.153
2025-04-24 11:47:22 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:22 [debug] Diagnostics for board 50:
2025-04-24 11:47:22 [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 11:47:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:26 ago, cause: software
2025-04-24 11:47:22 [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 11:47:22 [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 11:47:22 [debug] Moves scheduled 20038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7142, max=17045
Sync err accum 121, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:22 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 17117, writes 0 timeouts 0
2025-04-24 11:47:22 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36109/37176
2025-04-24 11:47:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:22 [info] currentZPosition:0.153
2025-04-24 11:47:23 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:23 [debug] Diagnostics for board 50:
2025-04-24 11:47:23 [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 11:47:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:28 ago, cause: software
2025-04-24 11:47:23 [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 11:47:23 [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 11:47:23 [debug] Moves scheduled 20042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6198, max=17045
Sync err accum 119, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:23 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16979, writes 0 timeouts 0
2025-04-24 11:47:23 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37176
2025-04-24 11:47:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:23 [info] currentZPosition:0.152
2025-04-24 11:47:23 [debug] Stopped at height 0.154 mm
2025-04-24 11:47:25 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:25 [debug] Diagnostics for board 50:
2025-04-24 11:47:25 [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 11:47:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:29 ago, cause: software
2025-04-24 11:47:25 [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 11:47:25 [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 11:47:25 [debug] Moves scheduled 20048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 116, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:25 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20979, writes 0 timeouts 0
2025-04-24 11:47:25 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37173
2025-04-24 11:47:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:25 [info] currentZPosition:0.152
2025-04-24 11:47:25 [debug] Stopped at height 0.150 mm
2025-04-24 11:47:25 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:26 [debug] Stopped at height 0.150 mm
2025-04-24 11:47:26 [debug] Stopped at height 0.149 mm
2025-04-24 11:47:27 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:27 [debug] Diagnostics for board 50:
2025-04-24 11:47:27 [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 11:47:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:32 ago, cause: software
2025-04-24 11:47:27 [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 11:47:27 [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 11:47:27 [debug] Moves scheduled 20060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 99, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:27 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 32797, writes 0 timeouts 0
2025-04-24 11:47:27 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36167/37177
2025-04-24 11:47:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:27 [info] currentZPosition:0.152
2025-04-24 11:47:28 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:29 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:29 [debug] Diagnostics for board 50:
2025-04-24 11:47:29 [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 11:47:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:34 ago, cause: software
2025-04-24 11:47:29 [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 11:47:29 [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 11:47:29 [debug] Moves scheduled 20066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 88, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:29 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 21149, writes 0 timeouts 0
2025-04-24 11:47:29 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37178
2025-04-24 11:47:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:29 [info] currentZPosition:0.152
2025-04-24 11:47:30 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:30 [debug] Diagnostics for board 50:
2025-04-24 11:47:30 [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 11:47:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:49:35 ago, cause: software
2025-04-24 11:47:30 [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 11:47:30 [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 11:47:30 [debug] Moves scheduled 20070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 75, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:30 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16513, writes 0 timeouts 0
2025-04-24 11:47:30 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36169/37177
2025-04-24 11:47:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:30 [info] currentZPosition:0.153
2025-04-24 11:47:32 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:32 [debug] Diagnostics for board 50:
2025-04-24 11:47:32 [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 11:47:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:36 ago, cause: software
2025-04-24 11:47:32 [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 11:47:32 [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 11:47:32 [debug] Moves scheduled 20074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 60, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:32 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17362, writes 0 timeouts 0
2025-04-24 11:47:32 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37179
2025-04-24 11:47:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:32 [info] currentZPosition:0.152
2025-04-24 11:47:33 [debug] Stopped at height 0.154 mm
2025-04-24 11:47:33 [debug] Diagnostics for board 50:
2025-04-24 11:47:33 [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 11:47:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:38 ago, cause: software
2025-04-24 11:47:33 [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 11:47:33 [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 11:47:33 [debug] Moves scheduled 20078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 72, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:47:33 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16222, writes 0 timeouts 0
2025-04-24 11:47:33 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36280/37170
2025-04-24 11:47:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:33 [info] currentZPosition:0.154
2025-04-24 11:47:33 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:35 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:35 [debug] Diagnostics for board 50:
2025-04-24 11:47:35 [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 11:47:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:40 ago, cause: software
2025-04-24 11:47:35 [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 11:47:35 [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 11:47:35 [debug] Moves scheduled 20084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 92, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:47:35 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21454, writes 0 timeouts 0
2025-04-24 11:47:35 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37172
2025-04-24 11:47:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:35 [info] currentZPosition:0.152
2025-04-24 11:47:36 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:36 [debug] Diagnostics for board 50:
2025-04-24 11:47:36 [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 11:47:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:41 ago, cause: software
2025-04-24 11:47:36 [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 11:47:36 [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 11:47:36 [debug] Moves scheduled 20088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 110, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:36 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16758, writes 0 timeouts 0
2025-04-24 11:47:36 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37174
2025-04-24 11:47:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:36 [info] currentZPosition:0.152
2025-04-24 11:47:37 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:37 [debug] Diagnostics for board 50:
2025-04-24 11:47:37 [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 11:47:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:42 ago, cause: software
2025-04-24 11:47:37 [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 11:47:37 [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 11:47:37 [debug] Moves scheduled 20092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 119, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:37 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16832, writes 0 timeouts 0
2025-04-24 11:47:37 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36091/37170
2025-04-24 11:47:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:37 [info] currentZPosition:0.153
2025-04-24 11:47:39 [debug] Stopped at height 0.154 mm
2025-04-24 11:47:39 [debug] Diagnostics for board 50:
2025-04-24 11:47:39 [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 11:47:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:44 ago, cause: software
2025-04-24 11:47:39 [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 11:47:39 [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 11:47:39 [debug] Moves scheduled 20096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 127, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:39 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16606, writes 0 timeouts 0
2025-04-24 11:47:39 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37173
2025-04-24 11:47:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:39 [info] currentZPosition:0.154
2025-04-24 11:47:40 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:40 [debug] Diagnostics for board 50:
2025-04-24 11:47:40 [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 11:47:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:45 ago, cause: software
2025-04-24 11:47:40 [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 11:47:40 [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 11:47:40 [debug] Moves scheduled 20100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 121, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:47:40 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17449, writes 0 timeouts 0
2025-04-24 11:47:40 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37174
2025-04-24 11:47:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:40 [info] currentZPosition:0.153
2025-04-24 11:47:41 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:41 [debug] Diagnostics for board 50:
2025-04-24 11:47:41 [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 11:47:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:46 ago, cause: software
2025-04-24 11:47:41 [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 11:47:41 [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 11:47:41 [debug] Moves scheduled 20104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 107, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:47:41 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16296, writes 0 timeouts 0
2025-04-24 11:47:41 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36405/37178
2025-04-24 11:47:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:41 [info] currentZPosition:0.153
2025-04-24 11:47:43 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:43 [debug] Diagnostics for board 50:
2025-04-24 11:47:43 [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 11:47:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:48 ago, cause: software
2025-04-24 11:47:43 [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 11:47:43 [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 11:47:43 [debug] Moves scheduled 20108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 87, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:43 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17476, writes 0 timeouts 0
2025-04-24 11:47:43 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36114/37176
2025-04-24 11:47:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:43 [info] currentZPosition:0.152
2025-04-24 11:47:44 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:44 [debug] Diagnostics for board 50:
2025-04-24 11:47:44 [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 11:47:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:49 ago, cause: software
2025-04-24 11:47:44 [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 11:47:44 [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 11:47:44 [debug] Moves scheduled 20112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 70, peak jitter -4/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:47:44 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16527, writes 0 timeouts 0
2025-04-24 11:47:44 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37180
2025-04-24 11:47:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:44 [info] currentZPosition:0.153
2025-04-24 11:47:45 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:45 [debug] Diagnostics for board 50:
2025-04-24 11:47:45 [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 11:47:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:50 ago, cause: software
2025-04-24 11:47:45 [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 11:47:45 [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 11:47:45 [debug] Moves scheduled 20116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:45 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17076, writes 0 timeouts 0
2025-04-24 11:47:45 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:47:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:46 [info] currentZPosition:0.153
2025-04-24 11:47:47 [debug] Stopped at height 0.154 mm
2025-04-24 11:47:47 [debug] Diagnostics for board 50:
2025-04-24 11:47:47 [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 11:47:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:52 ago, cause: software
2025-04-24 11:47:47 [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 11:47:47 [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 11:47:47 [debug] Moves scheduled 20120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 75, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:47:47 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min 0, mspos 872, reads 16386, writes 0 timeouts 0
2025-04-24 11:47:47 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37172
2025-04-24 11:47:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:47 [info] currentZPosition:0.154
2025-04-24 11:47:48 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:48 [debug] Diagnostics for board 50:
2025-04-24 11:47:48 [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 11:47:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:53 ago, cause: software
2025-04-24 11:47:48 [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 11:47:48 [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 11:47:48 [debug] Moves scheduled 20124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 83, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:47:48 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17717, writes 0 timeouts 0
2025-04-24 11:47:48 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36095/37172
2025-04-24 11:47:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4557, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:48 [info] currentZPosition:0.152
2025-04-24 11:47:49 [debug] Stopped at height 0.154 mm
2025-04-24 11:47:50 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:50 [debug] Diagnostics for board 50:
2025-04-24 11:47:50 [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 11:47:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:55 ago, cause: software
2025-04-24 11:47:50 [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 11:47:50 [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 11:47:50 [debug] Moves scheduled 20130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 94, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:47:50 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20132, writes 0 timeouts 0
2025-04-24 11:47:50 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36395/37176
2025-04-24 11:47:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:50 [info] currentZPosition:0.153
2025-04-24 11:47:51 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:51 [debug] Diagnostics for board 50:
2025-04-24 11:47:51 [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 11:47:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:56 ago, cause: software
2025-04-24 11:47:51 [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 11:47:51 [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 11:47:51 [debug] Moves scheduled 20134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 101, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294936559 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:51 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17299, writes 0 timeouts 0
2025-04-24 11:47:51 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36110/37175
2025-04-24 11:47:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:51 [info] currentZPosition:0.153
2025-04-24 11:47:53 [debug] Stopped at height 0.151 mm
2025-04-24 11:47:53 [debug] Diagnostics for board 50:
2025-04-24 11:47:53 [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 11:47:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:57 ago, cause: software
2025-04-24 11:47:53 [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 11:47:53 [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 11:47:53 [debug] Moves scheduled 20138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 104, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:53 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17131, writes 0 timeouts 0
2025-04-24 11:47:53 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37173
2025-04-24 11:47:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:53 [info] currentZPosition:0.151
2025-04-24 11:47:53 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:54 [debug] Stopped at height 0.154 mm
2025-04-24 11:47:54 [debug] Diagnostics for board 50:
2025-04-24 11:47:54 [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 11:47:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:49:59 ago, cause: software
2025-04-24 11:47:54 [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 11:47:54 [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 11:47:54 [debug] Moves scheduled 20144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 107, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:54 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20380, writes 0 timeouts 0
2025-04-24 11:47:54 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37177
2025-04-24 11:47:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:54 [info] currentZPosition:0.154
2025-04-24 11:47:56 [debug] Stopped at height 0.152 mm
2025-04-24 11:47:56 [debug] Diagnostics for board 50:
2025-04-24 11:47:56 [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 11:47:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:00 ago, cause: software
2025-04-24 11:47:56 [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 11:47:56 [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 11:47:56 [debug] Moves scheduled 20148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=97, frequency (Hz): min=6147, max=17857
Sync err accum 106, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:47:56 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17003, writes 0 timeouts 0
2025-04-24 11:47:56 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37176
2025-04-24 11:47:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:56 [info] currentZPosition:0.152
2025-04-24 11:47:57 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:57 [debug] Diagnostics for board 50:
2025-04-24 11:47:57 [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 11:47:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:02 ago, cause: software
2025-04-24 11:47:57 [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 11:47:57 [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 11:47:57 [debug] Moves scheduled 20152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 104, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:47:57 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16883, writes 0 timeouts 0
2025-04-24 11:47:57 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36113/37178
2025-04-24 11:47:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:57 [info] currentZPosition:0.153
2025-04-24 11:47:58 [debug] Stopped at height 0.153 mm
2025-04-24 11:47:58 [debug] Diagnostics for board 50:
2025-04-24 11:47:58 [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 11:47:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:03 ago, cause: software
2025-04-24 11:47:58 [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 11:47:58 [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 11:47:58 [debug] Moves scheduled 20156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 98, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:47:58 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16819, writes 0 timeouts 0
2025-04-24 11:47:58 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36397/37177
2025-04-24 11:47:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:47:58 [info] currentZPosition:0.153
2025-04-24 11:48:00 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:00 [debug] Diagnostics for board 50:
2025-04-24 11:48:00 [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 11:48:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:04 ago, cause: software
2025-04-24 11:48:00 [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 11:48:00 [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 11:48:00 [debug] Moves scheduled 20160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:00 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17159, writes 0 timeouts 0
2025-04-24 11:48:00 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35962/37174
2025-04-24 11:48:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:00 [info] currentZPosition:0.153
2025-04-24 11:48:01 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:01 [debug] Diagnostics for board 50:
2025-04-24 11:48:01 [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 11:48:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:06 ago, cause: software
2025-04-24 11:48:01 [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 11:48:01 [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 11:48:01 [debug] Moves scheduled 20164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17857
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:01 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16467, writes 0 timeouts 0
2025-04-24 11:48:01 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36386/37177
2025-04-24 11:48:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:01 [info] currentZPosition:0.153
2025-04-24 11:48:02 [debug] Stopped at height 0.152 mm
2025-04-24 11:48:02 [debug] Diagnostics for board 50:
2025-04-24 11:48:02 [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 11:48:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:07 ago, cause: software
2025-04-24 11:48:02 [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 11:48:02 [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 11:48:02 [debug] Moves scheduled 20168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6355, max=17857
Sync err accum 69, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:02 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17485, writes 0 timeouts 0
2025-04-24 11:48:02 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37178
2025-04-24 11:48:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:02 [info] currentZPosition:0.152
2025-04-24 11:48:04 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:04 [debug] Diagnostics for board 50:
2025-04-24 11:48:04 [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 11:48:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:09 ago, cause: software
2025-04-24 11:48:04 [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 11:48:04 [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 11:48:04 [debug] Moves scheduled 20172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 60, peak jitter -3/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:04 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16557, writes 0 timeouts 0
2025-04-24 11:48:04 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37175
2025-04-24 11:48:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:04 [info] currentZPosition:0.153
2025-04-24 11:48:05 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:05 [debug] Diagnostics for board 50:
2025-04-24 11:48:05 [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 11:48:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:10 ago, cause: software
2025-04-24 11:48:05 [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 11:48:05 [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 11:48:05 [debug] Moves scheduled 20176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6355, max=17857
Sync err accum 79, peak jitter 3/4, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:05 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 16701, writes 0 timeouts 0
2025-04-24 11:48:05 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36102/37168
2025-04-24 11:48:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 813
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:05 [info] currentZPosition:0.154
2025-04-24 11:48:05 [debug] Stopped at height 0.151 mm
2025-04-24 11:48:06 [debug] Stopped at height 0.151 mm
2025-04-24 11:48:07 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:07 [debug] Diagnostics for board 50:
2025-04-24 11:48:07 [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 11:48:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:12 ago, cause: software
2025-04-24 11:48:07 [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 11:48:07 [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 11:48:07 [debug] Moves scheduled 20184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=507, max=17045
Sync err accum 99, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:48:07 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 24901, writes 11 timeouts 1
2025-04-24 11:48:07 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36396/37176
2025-04-24 11:48:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:07 [info] currentZPosition:0.153
2025-04-24 11:48:07 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:09 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:09 [debug] Diagnostics for board 50:
2025-04-24 11:48:09 [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 11:48:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:14 ago, cause: software
2025-04-24 11:48:09 [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 11:48:09 [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 11:48:09 [debug] Moves scheduled 20190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294928968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:09 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 21023, writes 0 timeouts 0
2025-04-24 11:48:09 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36093/37176
2025-04-24 11:48:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:09 [info] currentZPosition:0.153
2025-04-24 11:48:10 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:10 [debug] Diagnostics for board 50:
2025-04-24 11:48:10 [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 11:48:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:15 ago, cause: software
2025-04-24 11:48:10 [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 11:48:10 [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 11:48:10 [debug] Moves scheduled 20194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7075, max=17045
Sync err accum 116, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:48:10 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16392, writes 0 timeouts 0
2025-04-24 11:48:10 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36400/37174
2025-04-24 11:48:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:10 [info] currentZPosition:0.154
2025-04-24 11:48:11 [debug] Stopped at height 0.152 mm
2025-04-24 11:48:11 [debug] Diagnostics for board 50:
2025-04-24 11:48:11 [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 11:48:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:16 ago, cause: software
2025-04-24 11:48:11 [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 11:48:11 [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 11:48:11 [debug] Moves scheduled 20198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=7009, max=17045
Sync err accum 119, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:11 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17741, writes 0 timeouts 0
2025-04-24 11:48:11 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 11:48:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:12 [info] currentZPosition:0.152
2025-04-24 11:48:12 [debug] Stopped at height 0.152 mm
2025-04-24 11:48:13 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:13 [debug] Diagnostics for board 50:
2025-04-24 11:48:13 [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 11:48:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:18 ago, cause: software
2025-04-24 11:48:13 [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 11:48:13 [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 11:48:13 [debug] Moves scheduled 20204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 122, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:13 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20011, writes 0 timeouts 0
2025-04-24 11:48:13 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36378/37176
2025-04-24 11:48:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:13 [info] currentZPosition:0.154
2025-04-24 11:48:13 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:15 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:15 [debug] Diagnostics for board 50:
2025-04-24 11:48:15 [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 11:48:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:20 ago, cause: software
2025-04-24 11:48:15 [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 11:48:15 [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 11:48:15 [debug] Moves scheduled 20210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 117, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:15 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 21245, writes 0 timeouts 0
2025-04-24 11:48:15 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37174
2025-04-24 11:48:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:15 [info] currentZPosition:0.154
2025-04-24 11:48:16 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:16 [debug] Diagnostics for board 50:
2025-04-24 11:48:16 [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 11:48:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:21 ago, cause: software
2025-04-24 11:48:16 [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 11:48:16 [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 11:48:16 [debug] Moves scheduled 20214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:48:16 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16587, writes 0 timeouts 0
2025-04-24 11:48:16 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37177
2025-04-24 11:48:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:16 [info] currentZPosition:0.153
2025-04-24 11:48:17 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:17 [debug] Diagnostics for board 50:
2025-04-24 11:48:17 [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 11:48:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:22 ago, cause: software
2025-04-24 11:48:17 [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 11:48:17 [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 11:48:17 [debug] Moves scheduled 20218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:17 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17030, writes 0 timeouts 0
2025-04-24 11:48:17 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37175
2025-04-24 11:48:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:18 [info] currentZPosition:0.154
2025-04-24 11:48:19 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:19 [debug] Diagnostics for board 50:
2025-04-24 11:48:19 [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 11:48:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:24 ago, cause: software
2025-04-24 11:48:19 [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 11:48:19 [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 11:48:19 [debug] Moves scheduled 20222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6097, max=17441
Sync err accum 99, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294928224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:19 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16849, writes 0 timeouts 0
2025-04-24 11:48:19 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37172
2025-04-24 11:48:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:19 [info] currentZPosition:0.154
2025-04-24 11:48:20 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:20 [debug] Diagnostics for board 50:
2025-04-24 11:48:20 [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 11:48:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:25 ago, cause: software
2025-04-24 11:48:20 [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 11:48:20 [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 11:48:20 [debug] Moves scheduled 20226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 85, peak jitter -2/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:48:20 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16959, writes 0 timeouts 0
2025-04-24 11:48:20 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37178
2025-04-24 11:48:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:20 [info] currentZPosition:0.154
2025-04-24 11:48:21 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:21 [debug] Diagnostics for board 50:
2025-04-24 11:48:21 [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 11:48:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:26 ago, cause: software
2025-04-24 11:48:21 [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 11:48:21 [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 11:48:21 [debug] Moves scheduled 20230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6147, max=17441
Sync err accum 72, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:48:21 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16658, writes 0 timeouts 0
2025-04-24 11:48:21 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37179
2025-04-24 11:48:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:22 [info] currentZPosition:0.154
2025-04-24 11:48:23 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:23 [debug] Diagnostics for board 50:
2025-04-24 11:48:23 [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 11:48:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:28 ago, cause: software
2025-04-24 11:48:23 [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 11:48:23 [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 11:48:23 [debug] Moves scheduled 20234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=18292
Sync err accum 59, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:23 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17606, writes 0 timeouts 0
2025-04-24 11:48:23 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37178
2025-04-24 11:48:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:23 [info] currentZPosition:0.153
2025-04-24 11:48:23 [debug] Stopped at height 0.152 mm
2025-04-24 11:48:24 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:24 [debug] Diagnostics for board 50:
2025-04-24 11:48:24 [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 11:48:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:29 ago, cause: software
2025-04-24 11:48:24 [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 11:48:24 [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 11:48:24 [debug] Moves scheduled 20240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6198, max=17045
Sync err accum 72, peak jitter 0/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:24 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 20008, writes 0 timeouts 0
2025-04-24 11:48:24 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36398/37173
2025-04-24 11:48:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:25 [info] currentZPosition:0.155
2025-04-24 11:48:25 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:26 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:26 [debug] Diagnostics for board 50:
2025-04-24 11:48:26 [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 11:48:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:31 ago, cause: software
2025-04-24 11:48:26 [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 11:48:26 [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 11:48:26 [debug] Moves scheduled 20246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:48:26 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 21334, writes 0 timeouts 0
2025-04-24 11:48:26 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36092/37174
2025-04-24 11:48:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:26 [info] currentZPosition:0.154
2025-04-24 11:48:28 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:28 [debug] Diagnostics for board 50:
2025-04-24 11:48:28 [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 11:48:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:32 ago, cause: software
2025-04-24 11:48:28 [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 11:48:28 [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 11:48:28 [debug] Moves scheduled 20250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 91, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:48:28 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16852, writes 0 timeouts 0
2025-04-24 11:48:28 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36283/37166
2025-04-24 11:48:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:28 [info] currentZPosition:0.154
2025-04-24 11:48:29 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:29 [debug] Diagnostics for board 50:
2025-04-24 11:48:29 [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 11:48:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:34 ago, cause: software
2025-04-24 11:48:29 [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 11:48:29 [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 11:48:29 [debug] Moves scheduled 20254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 96, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:48:29 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16918, writes 0 timeouts 0
2025-04-24 11:48:29 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37174
2025-04-24 11:48:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:29 [info] currentZPosition:0.155
2025-04-24 11:48:30 [debug] Stopped at height 0.156 mm
2025-04-24 11:48:30 [debug] Diagnostics for board 50:
2025-04-24 11:48:30 [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 11:48:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:35 ago, cause: software
2025-04-24 11:48:30 [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 11:48:30 [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 11:48:30 [debug] Moves scheduled 20258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17857
Sync err accum 98, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:30 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min 0, mspos 792, reads 16301, writes 0 timeouts 0
2025-04-24 11:48:30 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37173
2025-04-24 11:48:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:30 [info] currentZPosition:0.156
2025-04-24 11:48:32 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:32 [debug] Diagnostics for board 50:
2025-04-24 11:48:32 [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 11:48:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:36 ago, cause: software
2025-04-24 11:48:32 [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 11:48:32 [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 11:48:32 [debug] Moves scheduled 20262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:32 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 18081, writes 0 timeouts 0
2025-04-24 11:48:32 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37171
2025-04-24 11:48:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:32 [info] currentZPosition:0.153
2025-04-24 11:48:32 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:33 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:33 [debug] Diagnostics for board 50:
2025-04-24 11:48:33 [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 11:48:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:38 ago, cause: software
2025-04-24 11:48:33 [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 11:48:33 [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 11:48:33 [debug] Moves scheduled 20268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:33 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 19516, writes 0 timeouts 0
2025-04-24 11:48:33 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37178
2025-04-24 11:48:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:33 [info] currentZPosition:0.155
2025-04-24 11:48:34 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:35 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:35 [debug] Diagnostics for board 50:
2025-04-24 11:48:35 [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 11:48:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:40 ago, cause: software
2025-04-24 11:48:35 [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 11:48:35 [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 11:48:35 [debug] Moves scheduled 20274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:35 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 21743, writes 0 timeouts 0
2025-04-24 11:48:35 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37177
2025-04-24 11:48:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:35 [info] currentZPosition:0.154
2025-04-24 11:48:35 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:37 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:37 [debug] Diagnostics for board 50:
2025-04-24 11:48:37 [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 11:48:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:41 ago, cause: software
2025-04-24 11:48:37 [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 11:48:37 [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 11:48:37 [debug] Moves scheduled 20280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:37 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20152, writes 0 timeouts 0
2025-04-24 11:48:37 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37177
2025-04-24 11:48:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:37 [info] currentZPosition:0.155
2025-04-24 11:48:38 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:38 [debug] Diagnostics for board 50:
2025-04-24 11:48:38 [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 11:48:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:43 ago, cause: software
2025-04-24 11:48:38 [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 11:48:38 [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 11:48:38 [debug] Moves scheduled 20284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 77, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:38 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 17156, writes 0 timeouts 0
2025-04-24 11:48:38 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37178
2025-04-24 11:48:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:38 [info] currentZPosition:0.155
2025-04-24 11:48:39 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:39 [debug] Diagnostics for board 50:
2025-04-24 11:48:39 [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 11:48:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:44 ago, cause: software
2025-04-24 11:48:39 [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 11:48:39 [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 11:48:39 [debug] Moves scheduled 20288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:39 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16836, writes 0 timeouts 0
2025-04-24 11:48:39 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36163/37179
2025-04-24 11:48:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:39 [info] currentZPosition:0.154
2025-04-24 11:48:41 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:41 [debug] Diagnostics for board 50:
2025-04-24 11:48:41 [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 11:48:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:45 ago, cause: software
2025-04-24 11:48:41 [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 11:48:41 [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 11:48:41 [debug] Moves scheduled 20292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 60, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:41 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16768, writes 0 timeouts 0
2025-04-24 11:48:41 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37175
2025-04-24 11:48:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:41 [info] currentZPosition:0.155
2025-04-24 11:48:42 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:42 [debug] Diagnostics for board 50:
2025-04-24 11:48:42 [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 11:48:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:47 ago, cause: software
2025-04-24 11:48:42 [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 11:48:42 [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 11:48:42 [debug] Moves scheduled 20296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6410, max=17045
Sync err accum 75, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:42 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16728, writes 0 timeouts 0
2025-04-24 11:48:42 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37175
2025-04-24 11:48:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:42 [info] currentZPosition:0.155
2025-04-24 11:48:43 [debug] Stopped at height 0.152 mm
2025-04-24 11:48:43 [debug] Diagnostics for board 50:
2025-04-24 11:48:43 [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 11:48:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:48 ago, cause: software
2025-04-24 11:48:43 [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 11:48:43 [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 11:48:43 [debug] Moves scheduled 20300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7075, max=18292
Sync err accum 87, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:48:43 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17978, writes 0 timeouts 0
2025-04-24 11:48:43 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37172
2025-04-24 11:48:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:43 [info] currentZPosition:0.152
2025-04-24 11:48:44 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:45 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:45 [debug] Diagnostics for board 50:
2025-04-24 11:48:45 [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 11:48:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:50 ago, cause: software
2025-04-24 11:48:45 [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 11:48:45 [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 11:48:45 [debug] Moves scheduled 20306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=7075, max=17045
Sync err accum 97, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294936582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:45 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 19726, writes 0 timeouts 0
2025-04-24 11:48:45 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36162/37172
2025-04-24 11:48:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:45 [info] currentZPosition:0.154
2025-04-24 11:48:45 [debug] Stopped at height 0.153 mm
2025-04-24 11:48:47 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:47 [debug] Diagnostics for board 50:
2025-04-24 11:48:47 [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 11:48:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:52 ago, cause: software
2025-04-24 11:48:47 [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 11:48:47 [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 11:48:47 [debug] Moves scheduled 20312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=17045
Sync err accum 109, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:47 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 21233, writes 0 timeouts 0
2025-04-24 11:48:47 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37174
2025-04-24 11:48:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:47 [info] currentZPosition:0.154
2025-04-24 11:48:48 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:48 [debug] Diagnostics for board 50:
2025-04-24 11:48:48 [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 11:48:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:53 ago, cause: software
2025-04-24 11:48:48 [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 11:48:48 [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 11:48:48 [debug] Moves scheduled 20316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 114, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:48 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16064, writes 0 timeouts 0
2025-04-24 11:48:48 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37177
2025-04-24 11:48:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:48 [info] currentZPosition:0.155
2025-04-24 11:48:48 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:50 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:50 [debug] Diagnostics for board 50:
2025-04-24 11:48:50 [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 11:48:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:55 ago, cause: software
2025-04-24 11:48:50 [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 11:48:50 [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 11:48:50 [debug] Moves scheduled 20322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=18292
Sync err accum 118, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:48:50 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 21567, writes 0 timeouts 0
2025-04-24 11:48:50 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37176
2025-04-24 11:48:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:50 [info] currentZPosition:0.154
2025-04-24 11:48:51 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:51 [debug] Diagnostics for board 50:
2025-04-24 11:48:51 [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 11:48:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:56 ago, cause: software
2025-04-24 11:48:51 [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 11:48:51 [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 11:48:51 [debug] Moves scheduled 20326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 121, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:51 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16344, writes 0 timeouts 0
2025-04-24 11:48:51 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37175
2025-04-24 11:48:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:51 [info] currentZPosition:0.154
2025-04-24 11:48:52 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:52 [debug] Diagnostics for board 50:
2025-04-24 11:48:52 [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 11:48:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:57 ago, cause: software
2025-04-24 11:48:52 [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 11:48:52 [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 11:48:52 [debug] Moves scheduled 20330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 119, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294927846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:52 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17071, writes 0 timeouts 0
2025-04-24 11:48:52 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37176
2025-04-24 11:48:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:52 [info] currentZPosition:0.155
2025-04-24 11:48:54 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:54 [debug] Diagnostics for board 50:
2025-04-24 11:48:54 [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 11:48:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:50:59 ago, cause: software
2025-04-24 11:48:54 [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 11:48:54 [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 11:48:54 [debug] Moves scheduled 20334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6818, max=17857
Sync err accum 116, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:48:54 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16823, writes 0 timeouts 0
2025-04-24 11:48:54 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36169/37177
2025-04-24 11:48:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:54 [info] currentZPosition:0.154
2025-04-24 11:48:55 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:55 [debug] Diagnostics for board 50:
2025-04-24 11:48:55 [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 11:48:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:00 ago, cause: software
2025-04-24 11:48:55 [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 11:48:55 [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 11:48:55 [debug] Moves scheduled 20338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:48:55 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17149, writes 0 timeouts 0
2025-04-24 11:48:55 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36104/37178
2025-04-24 11:48:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:55 [info] currentZPosition:0.154
2025-04-24 11:48:56 [debug] Stopped at height 0.154 mm
2025-04-24 11:48:56 [debug] Diagnostics for board 50:
2025-04-24 11:48:56 [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 11:48:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:01 ago, cause: software
2025-04-24 11:48:56 [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 11:48:56 [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 11:48:56 [debug] Moves scheduled 20342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:48:56 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16576, writes 0 timeouts 0
2025-04-24 11:48:56 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36167/37176
2025-04-24 11:48:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:56 [info] currentZPosition:0.154
2025-04-24 11:48:58 [debug] Stopped at height 0.155 mm
2025-04-24 11:48:58 [debug] Diagnostics for board 50:
2025-04-24 11:48:58 [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 11:48:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:03 ago, cause: software
2025-04-24 11:48:58 [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 11:48:58 [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 11:48:58 [debug] Moves scheduled 20346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:48:58 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17113, writes 0 timeouts 0
2025-04-24 11:48:58 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37180
2025-04-24 11:48:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:58 [info] currentZPosition:0.155
2025-04-24 11:48:59 [debug] Stopped at height 0.156 mm
2025-04-24 11:48:59 [debug] Diagnostics for board 50:
2025-04-24 11:48:59 [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 11:48:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:04 ago, cause: software
2025-04-24 11:48:59 [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 11:48:59 [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 11:48:59 [debug] Moves scheduled 20350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 84, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:48:59 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16324, writes 0 timeouts 0
2025-04-24 11:48:59 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36169/37178
2025-04-24 11:48:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:48:59 [info] currentZPosition:0.156
2025-04-24 11:49:00 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:00 [debug] Diagnostics for board 50:
2025-04-24 11:49:00 [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 11:49:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:05 ago, cause: software
2025-04-24 11:49:00 [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 11:49:00 [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 11:49:00 [debug] Moves scheduled 20354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:00 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17462, writes 0 timeouts 0
2025-04-24 11:49:00 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37179
2025-04-24 11:49:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:01 [info] currentZPosition:0.155
2025-04-24 11:49:02 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:02 [debug] Diagnostics for board 50:
2025-04-24 11:49:02 [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 11:49:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:07 ago, cause: software
2025-04-24 11:49:02 [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 11:49:02 [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 11:49:02 [debug] Moves scheduled 20358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 61, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:02 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16402, writes 0 timeouts 0
2025-04-24 11:49:02 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36164/37178
2025-04-24 11:49:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:02 [info] currentZPosition:0.155
2025-04-24 11:49:03 [debug] Stopped at height 0.153 mm
2025-04-24 11:49:03 [debug] Diagnostics for board 50:
2025-04-24 11:49:03 [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 11:49:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:08 ago, cause: software
2025-04-24 11:49:03 [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 11:49:03 [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 11:49:03 [debug] Moves scheduled 20362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=18292
Sync err accum 77, peak jitter 1/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:03 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17705, writes 0 timeouts 0
2025-04-24 11:49:03 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36088/37174
2025-04-24 11:49:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:03 [info] currentZPosition:0.153
2025-04-24 11:49:04 [debug] Stopped at height 0.153 mm
2025-04-24 11:49:05 [debug] Stopped at height 0.153 mm
2025-04-24 11:49:05 [debug] Diagnostics for board 50:
2025-04-24 11:49:05 [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 11:49:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:10 ago, cause: software
2025-04-24 11:49:05 [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 11:49:05 [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 11:49:05 [debug] Moves scheduled 20368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 90, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:05 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 20691, writes 0 timeouts 0
2025-04-24 11:49:05 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37175
2025-04-24 11:49:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:05 [info] currentZPosition:0.153
2025-04-24 11:49:06 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:06 [debug] Diagnostics for board 50:
2025-04-24 11:49:06 [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 11:49:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:11 ago, cause: software
2025-04-24 11:49:06 [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 11:49:06 [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 11:49:06 [debug] Moves scheduled 20372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 96, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:06 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16467, writes 0 timeouts 0
2025-04-24 11:49:06 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37175
2025-04-24 11:49:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:06 [info] currentZPosition:0.155
2025-04-24 11:49:07 [debug] Stopped at height 0.153 mm
2025-04-24 11:49:08 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:08 [debug] Diagnostics for board 50:
2025-04-24 11:49:08 [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 11:49:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:13 ago, cause: software
2025-04-24 11:49:08 [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 11:49:08 [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 11:49:08 [debug] Moves scheduled 20378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20523, writes 0 timeouts 0
2025-04-24 11:49:08 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36162/37176
2025-04-24 11:49:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:08 [info] currentZPosition:0.155
2025-04-24 11:49:08 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:10 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:10 [debug] Diagnostics for board 50:
2025-04-24 11:49:10 [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 11:49:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:14 ago, cause: software
2025-04-24 11:49:10 [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 11:49:10 [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 11:49:10 [debug] Moves scheduled 20384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 106, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:10 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 21022, writes 0 timeouts 0
2025-04-24 11:49:10 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36094/37177
2025-04-24 11:49:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:10 [info] currentZPosition:0.155
2025-04-24 11:49:11 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:11 [debug] Diagnostics for board 50:
2025-04-24 11:49:11 [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 11:49:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:16 ago, cause: software
2025-04-24 11:49:11 [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 11:49:11 [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 11:49:11 [debug] Moves scheduled 20388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 103, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:11 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16386, writes 0 timeouts 0
2025-04-24 11:49:11 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37176
2025-04-24 11:49:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:11 [info] currentZPosition:0.156
2025-04-24 11:49:12 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:12 [debug] Diagnostics for board 50:
2025-04-24 11:49:12 [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 11:49:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:17 ago, cause: software
2025-04-24 11:49:12 [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 11:49:12 [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 11:49:12 [debug] Moves scheduled 20392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 100, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:12 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17676, writes 0 timeouts 0
2025-04-24 11:49:12 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37177
2025-04-24 11:49:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:12 [info] currentZPosition:0.154
2025-04-24 11:49:13 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:14 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:14 [debug] Diagnostics for board 50:
2025-04-24 11:49:14 [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 11:49:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:19 ago, cause: software
2025-04-24 11:49:14 [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 11:49:14 [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 11:49:14 [debug] Moves scheduled 20398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:14 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20496, writes 0 timeouts 0
2025-04-24 11:49:14 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36154/37176
2025-04-24 11:49:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:14 [info] currentZPosition:0.154
2025-04-24 11:49:15 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:15 [debug] Diagnostics for board 50:
2025-04-24 11:49:15 [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 11:49:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:20 ago, cause: software
2025-04-24 11:49:15 [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 11:49:15 [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 11:49:15 [debug] Moves scheduled 20402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
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 4294936833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:15 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16685, writes 0 timeouts 0
2025-04-24 11:49:15 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37178
2025-04-24 11:49:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:15 [info] currentZPosition:0.155
2025-04-24 11:49:16 [debug] Stopped at height 0.153 mm
2025-04-24 11:49:17 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:17 [debug] Diagnostics for board 50:
2025-04-24 11:49:17 [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 11:49:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:22 ago, cause: software
2025-04-24 11:49:17 [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 11:49:17 [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 11:49:17 [debug] Moves scheduled 20408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:17 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20498, writes 0 timeouts 0
2025-04-24 11:49:17 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36160/37179
2025-04-24 11:49:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:17 [info] currentZPosition:0.156
2025-04-24 11:49:17 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:19 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:19 [debug] Diagnostics for board 50:
2025-04-24 11:49:19 [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 11:49:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:51:23 ago, cause: software
2025-04-24 11:49:19 [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 11:49:19 [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 11:49:19 [debug] Moves scheduled 20414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:19 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 21405, writes 0 timeouts 0
2025-04-24 11:49:19 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36103/37177
2025-04-24 11:49:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:19 [info] currentZPosition:0.155
2025-04-24 11:49:20 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:20 [debug] Diagnostics for board 50:
2025-04-24 11:49:20 [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 11:49:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:25 ago, cause: software
2025-04-24 11:49:20 [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 11:49:20 [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 11:49:20 [debug] Moves scheduled 20418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6198, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:20 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16299, writes 0 timeouts 0
2025-04-24 11:49:20 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37173
2025-04-24 11:49:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:20 [info] currentZPosition:0.156
2025-04-24 11:49:21 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:21 [debug] Diagnostics for board 50:
2025-04-24 11:49:21 [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 11:49:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:26 ago, cause: software
2025-04-24 11:49:21 [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 11:49:21 [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 11:49:21 [debug] Moves scheduled 20422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 78, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294935350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 11:49:21 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17751, writes 0 timeouts 0
2025-04-24 11:49:21 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37173
2025-04-24 11:49:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:21 [info] currentZPosition:0.154
2025-04-24 11:49:22 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:23 [debug] Stopped at height 0.153 mm
2025-04-24 11:49:23 [debug] Diagnostics for board 50:
2025-04-24 11:49:23 [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 11:49:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:28 ago, cause: software
2025-04-24 11:49:23 [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 11:49:23 [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 11:49:23 [debug] Moves scheduled 20428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:23 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20779, writes 0 timeouts 0
2025-04-24 11:49:23 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 293, adv 36282/37175
2025-04-24 11:49:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:23 [info] currentZPosition:0.153
2025-04-24 11:49:24 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:24 [debug] Diagnostics for board 50:
2025-04-24 11:49:24 [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 11:49:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:29 ago, cause: software
2025-04-24 11:49:24 [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 11:49:24 [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 11:49:24 [debug] Moves scheduled 20432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6410, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:24 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16339, writes 0 timeouts 0
2025-04-24 11:49:24 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37171
2025-04-24 11:49:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:24 [info] currentZPosition:0.156
2025-04-24 11:49:25 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:26 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:26 [debug] Diagnostics for board 50:
2025-04-24 11:49:26 [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 11:49:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:31 ago, cause: software
2025-04-24 11:49:26 [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 11:49:26 [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 11:49:26 [debug] Moves scheduled 20438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
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 4294935856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:26 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20889, writes 0 timeouts 0
2025-04-24 11:49:26 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37174
2025-04-24 11:49:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:26 [info] currentZPosition:0.155
2025-04-24 11:49:27 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:27 [debug] Diagnostics for board 50:
2025-04-24 11:49:27 [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 11:49:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:32 ago, cause: software
2025-04-24 11:49:27 [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 11:49:27 [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 11:49:27 [debug] Moves scheduled 20442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:27 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17105, writes 0 timeouts 0
2025-04-24 11:49:27 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36111/37176
2025-04-24 11:49:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:27 [info] currentZPosition:0.155
2025-04-24 11:49:29 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:29 [debug] Diagnostics for board 50:
2025-04-24 11:49:29 [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 11:49:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:33 ago, cause: software
2025-04-24 11:49:29 [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 11:49:29 [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 11:49:29 [debug] Moves scheduled 20446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294931187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:29 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16684, writes 0 timeouts 0
2025-04-24 11:49:29 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37177
2025-04-24 11:49:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:29 [info] currentZPosition:0.155
2025-04-24 11:49:30 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:30 [debug] Diagnostics for board 50:
2025-04-24 11:49:30 [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 11:49:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:35 ago, cause: software
2025-04-24 11:49:30 [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 11:49:30 [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 11:49:30 [debug] Moves scheduled 20450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 78, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:30 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17166, writes 0 timeouts 0
2025-04-24 11:49:30 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36115/37178
2025-04-24 11:49:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:30 [info] currentZPosition:0.155
2025-04-24 11:49:31 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:31 [debug] Diagnostics for board 50:
2025-04-24 11:49:31 [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 11:49:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:36 ago, cause: software
2025-04-24 11:49:31 [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 11:49:31 [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 11:49:31 [debug] Moves scheduled 20454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5639, max=18292
Sync err accum 69, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:31 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16617, writes 0 timeouts 0
2025-04-24 11:49:31 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37177
2025-04-24 11:49:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:31 [info] currentZPosition:0.155
2025-04-24 11:49:33 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:33 [debug] Diagnostics for board 50:
2025-04-24 11:49:33 [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 11:49:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:38 ago, cause: software
2025-04-24 11:49:33 [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 11:49:33 [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 11:49:33 [debug] Moves scheduled 20458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=77, frequency (Hz): min=6355, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:33 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17053, writes 0 timeouts 0
2025-04-24 11:49:33 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37178
2025-04-24 11:49:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:33 [info] currentZPosition:0.156
2025-04-24 11:49:34 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:34 [debug] Diagnostics for board 50:
2025-04-24 11:49:34 [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 11:49:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:39 ago, cause: software
2025-04-24 11:49:34 [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 11:49:34 [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 11:49:34 [debug] Moves scheduled 20462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6147, max=18292
Sync err accum 77, peak jitter 2/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:34 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16826, writes 0 timeouts 0
2025-04-24 11:49:34 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37175
2025-04-24 11:49:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:34 [info] currentZPosition:0.155
2025-04-24 11:49:35 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:35 [debug] Diagnostics for board 50:
2025-04-24 11:49:35 [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 11:49:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:40 ago, cause: software
2025-04-24 11:49:35 [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 11:49:35 [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 11:49:35 [debug] Moves scheduled 20466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17045
Sync err accum 81, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:35 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17214, writes 0 timeouts 0
2025-04-24 11:49:35 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37175
2025-04-24 11:49:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:36 [info] currentZPosition:0.155
2025-04-24 11:49:37 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:37 [debug] Diagnostics for board 50:
2025-04-24 11:49:37 [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 11:49:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:42 ago, cause: software
2025-04-24 11:49:37 [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 11:49:37 [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 11:49:37 [debug] Moves scheduled 20470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:37 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16401, writes 0 timeouts 0
2025-04-24 11:49:37 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37174
2025-04-24 11:49:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:37 [info] currentZPosition:0.156
2025-04-24 11:49:38 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:38 [debug] Diagnostics for board 50:
2025-04-24 11:49:38 [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 11:49:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:43 ago, cause: software
2025-04-24 11:49:38 [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 11:49:38 [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 11:49:38 [debug] Moves scheduled 20474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=18292
Sync err accum 89, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:38 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 17120, writes 0 timeouts 0
2025-04-24 11:49:38 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37176
2025-04-24 11:49:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:38 [info] currentZPosition:0.156
2025-04-24 11:49:39 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:39 [debug] Diagnostics for board 50:
2025-04-24 11:49:39 [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 11:49:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:44 ago, cause: software
2025-04-24 11:49:39 [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 11:49:39 [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 11:49:39 [debug] Moves scheduled 20478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:39 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16759, writes 0 timeouts 0
2025-04-24 11:49:39 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37176
2025-04-24 11:49:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:40 [info] currentZPosition:0.155
2025-04-24 11:49:41 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:41 [debug] Diagnostics for board 50:
2025-04-24 11:49:41 [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 11:49:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:46 ago, cause: software
2025-04-24 11:49:41 [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 11:49:41 [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 11:49:41 [debug] Moves scheduled 20482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:41 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17070, writes 0 timeouts 0
2025-04-24 11:49:41 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37176
2025-04-24 11:49:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:41 [info] currentZPosition:0.156
2025-04-24 11:49:42 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:42 [debug] Diagnostics for board 50:
2025-04-24 11:49:42 [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 11:49:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:47 ago, cause: software
2025-04-24 11:49:42 [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 11:49:42 [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 11:49:42 [debug] Moves scheduled 20486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 82, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:42 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16910, writes 0 timeouts 0
2025-04-24 11:49:42 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36383/37176
2025-04-24 11:49:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:42 [info] currentZPosition:0.154
2025-04-24 11:49:44 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:44 [debug] Diagnostics for board 50:
2025-04-24 11:49:44 [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 11:49:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:48 ago, cause: software
2025-04-24 11:49:44 [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 11:49:44 [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 11:49:44 [debug] Moves scheduled 20490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 75, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:44 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16726, writes 0 timeouts 0
2025-04-24 11:49:44 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37177
2025-04-24 11:49:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:44 [info] currentZPosition:0.156
2025-04-24 11:49:44 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:45 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:45 [debug] Diagnostics for board 50:
2025-04-24 11:49:45 [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 11:49:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:50 ago, cause: software
2025-04-24 11:49:45 [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 11:49:45 [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 11:49:45 [debug] Moves scheduled 20496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6578, max=17045
Sync err accum 63, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:49:45 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20770, writes 0 timeouts 0
2025-04-24 11:49:45 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36404/37178
2025-04-24 11:49:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:45 [info] currentZPosition:0.155
2025-04-24 11:49:47 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:47 [debug] Diagnostics for board 50:
2025-04-24 11:49:47 [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 11:49:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:51 ago, cause: software
2025-04-24 11:49:47 [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 11:49:47 [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 11:49:47 [debug] Moves scheduled 20500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:47 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17090, writes 0 timeouts 0
2025-04-24 11:49:47 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36105/37176
2025-04-24 11:49:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:47 [info] currentZPosition:0.155
2025-04-24 11:49:48 [debug] Stopped at height 0.157 mm
2025-04-24 11:49:48 [debug] Diagnostics for board 50:
2025-04-24 11:49:48 [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 11:49:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:53 ago, cause: software
2025-04-24 11:49:48 [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 11:49:48 [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 11:49:48 [debug] Moves scheduled 20504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17441
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:48 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16185, writes 0 timeouts 0
2025-04-24 11:49:48 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37174
2025-04-24 11:49:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:48 [info] currentZPosition:0.157
2025-04-24 11:49:48 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:50 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:50 [debug] Diagnostics for board 50:
2025-04-24 11:49:50 [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 11:49:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:54 ago, cause: software
2025-04-24 11:49:50 [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 11:49:50 [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 11:49:50 [debug] Moves scheduled 20510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6637, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:50 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 21819, writes 0 timeouts 0
2025-04-24 11:49:50 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37176
2025-04-24 11:49:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:50 [info] currentZPosition:0.155
2025-04-24 11:49:51 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:51 [debug] Diagnostics for board 50:
2025-04-24 11:49:51 [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 11:49:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:56 ago, cause: software
2025-04-24 11:49:51 [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 11:49:51 [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 11:49:51 [debug] Moves scheduled 20514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:51 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16405, writes 0 timeouts 0
2025-04-24 11:49:51 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37177
2025-04-24 11:49:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:51 [info] currentZPosition:0.155
2025-04-24 11:49:52 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:52 [debug] Diagnostics for board 50:
2025-04-24 11:49:52 [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 11:49:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:57 ago, cause: software
2025-04-24 11:49:52 [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 11:49:52 [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 11:49:52 [debug] Moves scheduled 20518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 76, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:52 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16934, writes 0 timeouts 0
2025-04-24 11:49:52 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37176
2025-04-24 11:49:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:52 [info] currentZPosition:0.156
2025-04-24 11:49:54 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:54 [debug] Diagnostics for board 50:
2025-04-24 11:49:54 [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 11:49:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:51:58 ago, cause: software
2025-04-24 11:49:54 [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 11:49:54 [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 11:49:54 [debug] Moves scheduled 20522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:54 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17098, writes 0 timeouts 0
2025-04-24 11:49:54 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37176
2025-04-24 11:49:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:54 [info] currentZPosition:0.155
2025-04-24 11:49:54 [debug] Stopped at height 0.154 mm
2025-04-24 11:49:55 [debug] Stopped at height 0.156 mm
2025-04-24 11:49:55 [debug] Diagnostics for board 50:
2025-04-24 11:49:55 [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 11:49:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:00 ago, cause: software
2025-04-24 11:49:55 [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 11:49:55 [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 11:49:55 [debug] Moves scheduled 20528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:49:55 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20797, writes 0 timeouts 0
2025-04-24 11:49:55 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36110/37176
2025-04-24 11:49:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:55 [info] currentZPosition:0.156
2025-04-24 11:49:57 [debug] Stopped at height 0.155 mm
2025-04-24 11:49:57 [debug] Diagnostics for board 50:
2025-04-24 11:49:57 [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 11:49:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:01 ago, cause: software
2025-04-24 11:49:57 [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 11:49:57 [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 11:49:57 [debug] Moves scheduled 20532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:49:57 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16904, writes 0 timeouts 0
2025-04-24 11:49:57 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37176
2025-04-24 11:49:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:57 [info] currentZPosition:0.155
2025-04-24 11:49:58 [debug] Stopped at height 0.157 mm
2025-04-24 11:49:58 [debug] Diagnostics for board 50:
2025-04-24 11:49:58 [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 11:49:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:52:03 ago, cause: software
2025-04-24 11:49:58 [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 11:49:58 [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 11:49:58 [debug] Moves scheduled 20536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6097, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:49:58 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 16637, writes 0 timeouts 0
2025-04-24 11:49:58 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37173
2025-04-24 11:49:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:49:58 [info] currentZPosition:0.157
2025-04-24 11:49:58 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:00 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:00 [debug] Diagnostics for board 50:
2025-04-24 11:50:00 [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 11:50:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:04 ago, cause: software
2025-04-24 11:50:00 [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 11:50:00 [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 11:50:00 [debug] Moves scheduled 20542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:00 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20723, writes 0 timeouts 0
2025-04-24 11:50:00 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37175
2025-04-24 11:50:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:00 [info] currentZPosition:0.156
2025-04-24 11:50:01 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:01 [debug] Diagnostics for board 50:
2025-04-24 11:50:01 [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 11:50:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:06 ago, cause: software
2025-04-24 11:50:01 [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 11:50:01 [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 11:50:01 [debug] Moves scheduled 20546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:01 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17341, writes 0 timeouts 0
2025-04-24 11:50:01 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37177
2025-04-24 11:50:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:01 [info] currentZPosition:0.155
2025-04-24 11:50:02 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:02 [debug] Diagnostics for board 50:
2025-04-24 11:50:02 [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 11:50:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:07 ago, cause: software
2025-04-24 11:50:02 [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 11:50:02 [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 11:50:02 [debug] Moves scheduled 20550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:02 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16382, writes 0 timeouts 0
2025-04-24 11:50:02 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37174
2025-04-24 11:50:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:02 [info] currentZPosition:0.156
2025-04-24 11:50:04 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:04 [debug] Diagnostics for board 50:
2025-04-24 11:50:04 [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 11:50:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:09 ago, cause: software
2025-04-24 11:50:04 [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 11:50:04 [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 11:50:04 [debug] Moves scheduled 20554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:04 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17402, writes 0 timeouts 0
2025-04-24 11:50:04 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37175
2025-04-24 11:50:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:04 [info] currentZPosition:0.155
2025-04-24 11:50:05 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:05 [debug] Diagnostics for board 50:
2025-04-24 11:50:05 [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 11:50:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:10 ago, cause: software
2025-04-24 11:50:05 [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 11:50:05 [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 11:50:05 [debug] Moves scheduled 20558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:05 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16617, writes 0 timeouts 0
2025-04-24 11:50:05 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37175
2025-04-24 11:50:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:05 [info] currentZPosition:0.155
2025-04-24 11:50:06 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:06 [debug] Diagnostics for board 50:
2025-04-24 11:50:06 [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 11:50:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:11 ago, cause: software
2025-04-24 11:50:06 [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 11:50:06 [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 11:50:06 [debug] Moves scheduled 20562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:06 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16942, writes 0 timeouts 0
2025-04-24 11:50:06 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:50:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:06 [info] currentZPosition:0.156
2025-04-24 11:50:08 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:08 [debug] Diagnostics for board 50:
2025-04-24 11:50:08 [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 11:50:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:13 ago, cause: software
2025-04-24 11:50:08 [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 11:50:08 [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 11:50:08 [debug] Moves scheduled 20566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:08 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min 0, mspos 904, reads 16328, writes 0 timeouts 0
2025-04-24 11:50:08 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37175
2025-04-24 11:50:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:08 [info] currentZPosition:0.157
2025-04-24 11:50:09 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:09 [debug] Diagnostics for board 50:
2025-04-24 11:50:09 [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 11:50:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:14 ago, cause: software
2025-04-24 11:50:09 [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 11:50:09 [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 11:50:09 [debug] Moves scheduled 20570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:09 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17646, writes 0 timeouts 0
2025-04-24 11:50:09 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 11:50:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:09 [info] currentZPosition:0.155
2025-04-24 11:50:10 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:11 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:11 [debug] Diagnostics for board 50:
2025-04-24 11:50:11 [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 11:50:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:16 ago, cause: software
2025-04-24 11:50:11 [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 11:50:11 [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 11:50:11 [debug] Moves scheduled 20576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7009, max=17441
Sync err accum 80, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:11 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20298, writes 0 timeouts 0
2025-04-24 11:50:11 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36399/37174
2025-04-24 11:50:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:11 [info] currentZPosition:0.156
2025-04-24 11:50:12 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:12 [debug] Diagnostics for board 50:
2025-04-24 11:50:12 [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 11:50:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:17 ago, cause: software
2025-04-24 11:50:12 [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 11:50:12 [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 11:50:12 [debug] Moves scheduled 20580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:12 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17155, writes 0 timeouts 0
2025-04-24 11:50:12 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37174
2025-04-24 11:50:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:12 [info] currentZPosition:0.156
2025-04-24 11:50:13 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:13 [debug] Diagnostics for board 50:
2025-04-24 11:50:13 [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 11:50:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:18 ago, cause: software
2025-04-24 11:50:13 [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 11:50:13 [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 11:50:13 [debug] Moves scheduled 20584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=18292
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 4294931807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:13 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16372, writes 0 timeouts 0
2025-04-24 11:50:13 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37175
2025-04-24 11:50:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:14 [info] currentZPosition:0.157
2025-04-24 11:50:15 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:15 [debug] Diagnostics for board 50:
2025-04-24 11:50:15 [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 11:50:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:20 ago, cause: software
2025-04-24 11:50:15 [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 11:50:15 [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 11:50:15 [debug] Moves scheduled 20588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 66, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:15 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17590, writes 0 timeouts 0
2025-04-24 11:50:15 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37179
2025-04-24 11:50:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:15 [info] currentZPosition:0.156
2025-04-24 11:50:16 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:16 [debug] Diagnostics for board 50:
2025-04-24 11:50:16 [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 11:50:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:21 ago, cause: software
2025-04-24 11:50:16 [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 11:50:16 [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 11:50:16 [debug] Moves scheduled 20592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:16 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16265, writes 0 timeouts 0
2025-04-24 11:50:16 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36276/37173
2025-04-24 11:50:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:16 [info] currentZPosition:0.157
2025-04-24 11:50:18 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:18 [debug] Diagnostics for board 50:
2025-04-24 11:50:18 [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 11:50:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:22 ago, cause: software
2025-04-24 11:50:18 [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 11:50:18 [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 11:50:18 [debug] Moves scheduled 20596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 78, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:18 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17623, writes 0 timeouts 0
2025-04-24 11:50:18 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37174
2025-04-24 11:50:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:18 [info] currentZPosition:0.155
2025-04-24 11:50:18 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:19 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:19 [debug] Diagnostics for board 50:
2025-04-24 11:50:19 [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 11:50:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:24 ago, cause: software
2025-04-24 11:50:19 [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 11:50:19 [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 11:50:19 [debug] Moves scheduled 20602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17857
Sync err accum 79, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:19 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20145, writes 0 timeouts 0
2025-04-24 11:50:19 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37175
2025-04-24 11:50:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:19 [info] currentZPosition:0.157
2025-04-24 11:50:20 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:21 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:21 [debug] Diagnostics for board 50:
2025-04-24 11:50:21 [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 11:50:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:26 ago, cause: software
2025-04-24 11:50:21 [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 11:50:21 [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 11:50:21 [debug] Moves scheduled 20608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 73, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294933681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32
2025-04-24 11:50:21 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21305, writes 0 timeouts 0
2025-04-24 11:50:21 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36096/37175
2025-04-24 11:50:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:21 [info] currentZPosition:0.156
2025-04-24 11:50:22 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:22 [debug] Diagnostics for board 50:
2025-04-24 11:50:22 [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 11:50:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:27 ago, cause: software
2025-04-24 11:50:22 [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 11:50:22 [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 11:50:22 [debug] Moves scheduled 20612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:22 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16431, writes 0 timeouts 0
2025-04-24 11:50:22 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36153/37173
2025-04-24 11:50:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:22 [info] currentZPosition:0.157
2025-04-24 11:50:24 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:24 [debug] Diagnostics for board 50:
2025-04-24 11:50:24 [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 11:50:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:28 ago, cause: software
2025-04-24 11:50:24 [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 11:50:24 [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 11:50:24 [debug] Moves scheduled 20616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 63, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:24 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17400, writes 0 timeouts 0
2025-04-24 11:50:24 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37176
2025-04-24 11:50:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:24 [info] currentZPosition:0.156
2025-04-24 11:50:25 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:25 [debug] Diagnostics for board 50:
2025-04-24 11:50:25 [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 11:50:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:30 ago, cause: software
2025-04-24 11:50:25 [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 11:50:25 [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 11:50:25 [debug] Moves scheduled 20620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17857
Sync err accum 73, peak jitter 0/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:25 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16733, writes 0 timeouts 0
2025-04-24 11:50:25 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37176
2025-04-24 11:50:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:25 [info] currentZPosition:0.156
2025-04-24 11:50:26 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:26 [debug] Diagnostics for board 50:
2025-04-24 11:50:26 [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 11:50:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:31 ago, cause: software
2025-04-24 11:50:26 [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 11:50:26 [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 11:50:26 [debug] Moves scheduled 20624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:26 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16974, writes 0 timeouts 0
2025-04-24 11:50:26 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 11:50:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:26 [info] currentZPosition:0.156
2025-04-24 11:50:28 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:28 [debug] Diagnostics for board 50:
2025-04-24 11:50:28 [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 11:50:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:32 ago, cause: software
2025-04-24 11:50:28 [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 11:50:28 [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 11:50:28 [debug] Moves scheduled 20628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:28 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16525, writes 0 timeouts 0
2025-04-24 11:50:28 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37175
2025-04-24 11:50:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:28 [info] currentZPosition:0.157
2025-04-24 11:50:29 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:29 [debug] Diagnostics for board 50:
2025-04-24 11:50:29 [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 11:50:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:34 ago, cause: software
2025-04-24 11:50:29 [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 11:50:29 [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 11:50:29 [debug] Moves scheduled 20632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 95, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:29 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17353, writes 0 timeouts 0
2025-04-24 11:50:29 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36092/37175
2025-04-24 11:50:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:29 [info] currentZPosition:0.156
2025-04-24 11:50:30 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:30 [debug] Diagnostics for board 50:
2025-04-24 11:50:30 [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 11:50:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:35 ago, cause: software
2025-04-24 11:50:30 [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 11:50:30 [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 11:50:30 [debug] Moves scheduled 20636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=524, max=17045
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:50:30 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16582, writes 11 timeouts 1
2025-04-24 11:50:30 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37176
2025-04-24 11:50:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:30 [info] currentZPosition:0.156
2025-04-24 11:50:32 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:32 [debug] Diagnostics for board 50:
2025-04-24 11:50:32 [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 11:50:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:37 ago, cause: software
2025-04-24 11:50:32 [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 11:50:32 [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 11:50:32 [debug] Moves scheduled 20640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6302, max=18292
Sync err accum 99, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:50:32 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17260, writes 0 timeouts 0
2025-04-24 11:50:32 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:50:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:32 [info] currentZPosition:0.156
2025-04-24 11:50:33 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:33 [debug] Diagnostics for board 50:
2025-04-24 11:50:33 [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 11:50:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:38 ago, cause: software
2025-04-24 11:50:33 [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 11:50:33 [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 11:50:33 [debug] Moves scheduled 20644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6302, max=18292
Sync err accum 97, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:33 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16427, writes 0 timeouts 0
2025-04-24 11:50:33 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36160/37176
2025-04-24 11:50:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:33 [info] currentZPosition:0.156
2025-04-24 11:50:34 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:34 [debug] Diagnostics for board 50:
2025-04-24 11:50:34 [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 11:50:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:39 ago, cause: software
2025-04-24 11:50:34 [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 11:50:34 [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 11:50:34 [debug] Moves scheduled 20648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:34 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16924, writes 0 timeouts 0
2025-04-24 11:50:34 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36096/37178
2025-04-24 11:50:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:34 [info] currentZPosition:0.157
2025-04-24 11:50:36 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:36 [debug] Diagnostics for board 50:
2025-04-24 11:50:36 [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 11:50:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:41 ago, cause: software
2025-04-24 11:50:36 [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 11:50:36 [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 11:50:36 [debug] Moves scheduled 20652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 92, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:36 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16680, writes 0 timeouts 0
2025-04-24 11:50:36 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37178
2025-04-24 11:50:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:36 [info] currentZPosition:0.157
2025-04-24 11:50:37 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:37 [debug] Diagnostics for board 50:
2025-04-24 11:50:37 [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 11:50:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:42 ago, cause: software
2025-04-24 11:50:37 [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 11:50:37 [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 11:50:37 [debug] Moves scheduled 20656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:37 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min 0, mspos 952, reads 17020, writes 0 timeouts 0
2025-04-24 11:50:37 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37174
2025-04-24 11:50:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:37 [info] currentZPosition:0.157
2025-04-24 11:50:38 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:38 [debug] Diagnostics for board 50:
2025-04-24 11:50:38 [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 11:50:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:43 ago, cause: software
2025-04-24 11:50:38 [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 11:50:38 [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 11:50:38 [debug] Moves scheduled 20660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:50:38 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16980, writes 0 timeouts 0
2025-04-24 11:50:38 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37178
2025-04-24 11:50:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:38 [info] currentZPosition:0.156
2025-04-24 11:50:39 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:40 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:40 [debug] Diagnostics for board 50:
2025-04-24 11:50:40 [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 11:50:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:45 ago, cause: software
2025-04-24 11:50:40 [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 11:50:40 [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 11:50:40 [debug] Moves scheduled 20666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17441
Sync err accum 62, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294930148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:40 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21291, writes 0 timeouts 0
2025-04-24 11:50:40 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37176
2025-04-24 11:50:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:40 [info] currentZPosition:0.155
2025-04-24 11:50:41 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:41 [debug] Diagnostics for board 50:
2025-04-24 11:50:41 [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 11:50:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:46 ago, cause: software
2025-04-24 11:50:41 [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 11:50:41 [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 11:50:41 [debug] Moves scheduled 20670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=18292
Sync err accum 69, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:41 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16256, writes 0 timeouts 0
2025-04-24 11:50:41 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37171
2025-04-24 11:50:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:42 [info] currentZPosition:0.157
2025-04-24 11:50:43 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:43 [debug] Diagnostics for board 50:
2025-04-24 11:50:43 [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 11:50:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:48 ago, cause: software
2025-04-24 11:50:43 [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 11:50:43 [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 11:50:43 [debug] Moves scheduled 20674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6000, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:43 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17347, writes 0 timeouts 0
2025-04-24 11:50:43 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36092/37175
2025-04-24 11:50:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:43 [info] currentZPosition:0.156
2025-04-24 11:50:44 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:44 [debug] Diagnostics for board 50:
2025-04-24 11:50:44 [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 11:50:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:49 ago, cause: software
2025-04-24 11:50:44 [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 11:50:44 [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 11:50:44 [debug] Moves scheduled 20678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6465, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:44 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16523, writes 0 timeouts 0
2025-04-24 11:50:44 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36161/37175
2025-04-24 11:50:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:44 [info] currentZPosition:0.156
2025-04-24 11:50:45 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:45 [debug] Diagnostics for board 50:
2025-04-24 11:50:45 [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 11:50:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:50 ago, cause: software
2025-04-24 11:50:45 [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 11:50:45 [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 11:50:45 [debug] Moves scheduled 20682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=96, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:45 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16912, writes 0 timeouts 0
2025-04-24 11:50:45 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36124/37174
2025-04-24 11:50:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:46 [info] currentZPosition:0.157
2025-04-24 11:50:47 [debug] Stopped at height 0.158 mm
2025-04-24 11:50:47 [debug] Diagnostics for board 50:
2025-04-24 11:50:47 [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 11:50:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:52 ago, cause: software
2025-04-24 11:50:47 [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 11:50:47 [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 11:50:47 [debug] Moves scheduled 20686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:47 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16391, writes 0 timeouts 0
2025-04-24 11:50:47 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37172
2025-04-24 11:50:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:47 [info] currentZPosition:0.158
2025-04-24 11:50:48 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:48 [debug] Diagnostics for board 50:
2025-04-24 11:50:48 [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 11:50:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:53 ago, cause: software
2025-04-24 11:50:48 [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 11:50:48 [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 11:50:48 [debug] Moves scheduled 20690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 95, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:48 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 17494, writes 0 timeouts 0
2025-04-24 11:50:48 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37173
2025-04-24 11:50:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:48 [info] currentZPosition:0.157
2025-04-24 11:50:50 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:50 [debug] Diagnostics for board 50:
2025-04-24 11:50:50 [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 11:50:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:54 ago, cause: software
2025-04-24 11:50:50 [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 11:50:50 [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 11:50:50 [debug] Moves scheduled 20694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=18292
Sync err accum 96, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:50 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16772, writes 0 timeouts 0
2025-04-24 11:50:50 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36158/37176
2025-04-24 11:50:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:50 [info] currentZPosition:0.156
2025-04-24 11:50:51 [debug] Stopped at height 0.154 mm
2025-04-24 11:50:51 [debug] Diagnostics for board 50:
2025-04-24 11:50:51 [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 11:50:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:56 ago, cause: software
2025-04-24 11:50:51 [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 11:50:51 [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 11:50:51 [debug] Moves scheduled 20698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 91, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:51 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17810, writes 0 timeouts 0
2025-04-24 11:50:51 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37174
2025-04-24 11:50:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:51 [info] currentZPosition:0.154
2025-04-24 11:50:51 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:53 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:53 [debug] Diagnostics for board 50:
2025-04-24 11:50:53 [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 11:50:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:52:57 ago, cause: software
2025-04-24 11:50:53 [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 11:50:53 [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 11:50:53 [debug] Moves scheduled 20704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 83, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:53 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20018, writes 0 timeouts 0
2025-04-24 11:50:53 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36165/37177
2025-04-24 11:50:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:53 [info] currentZPosition:0.156
2025-04-24 11:50:54 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:54 [debug] Diagnostics for board 50:
2025-04-24 11:50:54 [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 11:50:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:52:59 ago, cause: software
2025-04-24 11:50:54 [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 11:50:54 [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 11:50:54 [debug] Moves scheduled 20708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6250, max=18292
Sync err accum 75, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:50:54 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16711, writes 0 timeouts 0
2025-04-24 11:50:54 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36098/37175
2025-04-24 11:50:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:54 [info] currentZPosition:0.157
2025-04-24 11:50:54 [debug] Stopped at height 0.155 mm
2025-04-24 11:50:56 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:56 [debug] Diagnostics for board 50:
2025-04-24 11:50:56 [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 11:50:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:00 ago, cause: software
2025-04-24 11:50:56 [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 11:50:56 [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 11:50:56 [debug] Moves scheduled 20714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 64, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:50:56 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 21005, writes 0 timeouts 0
2025-04-24 11:50:56 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 295, adv 36164/37177
2025-04-24 11:50:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:56 [info] currentZPosition:0.156
2025-04-24 11:50:57 [debug] Stopped at height 0.156 mm
2025-04-24 11:50:57 [debug] Diagnostics for board 50:
2025-04-24 11:50:57 [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 11:50:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:53:02 ago, cause: software
2025-04-24 11:50:57 [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 11:50:57 [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 11:50:57 [debug] Moves scheduled 20718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:50:57 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16976, writes 0 timeouts 0
2025-04-24 11:50:57 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36102/37177
2025-04-24 11:50:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:57 [info] currentZPosition:0.156
2025-04-24 11:50:58 [debug] Stopped at height 0.157 mm
2025-04-24 11:50:58 [debug] Diagnostics for board 50:
2025-04-24 11:50:58 [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 11:50:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:03 ago, cause: software
2025-04-24 11:50:58 [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 11:50:58 [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 11:50:58 [debug] Moves scheduled 20722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 79, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:50:58 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16495, writes 0 timeouts 0
2025-04-24 11:50:58 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36159/37175
2025-04-24 11:50:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:50:58 [info] currentZPosition:0.157
2025-04-24 11:51:00 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:00 [debug] Diagnostics for board 50:
2025-04-24 11:51:00 [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 11:51:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:04 ago, cause: software
2025-04-24 11:51:00 [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 11:51:00 [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 11:51:00 [debug] Moves scheduled 20726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6880, max=17045
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 4294933127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:51:00 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17371, writes 0 timeouts 0
2025-04-24 11:51:00 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36095/37173
2025-04-24 11:51:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:00 [info] currentZPosition:0.156
2025-04-24 11:51:01 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:01 [debug] Diagnostics for board 50:
2025-04-24 11:51:01 [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 11:51:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:53:06 ago, cause: software
2025-04-24 11:51:01 [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 11:51:01 [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 11:51:01 [debug] Moves scheduled 20730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=5725, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:01 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16469, writes 0 timeouts 0
2025-04-24 11:51:01 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37173
2025-04-24 11:51:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:01 [info] currentZPosition:0.157
2025-04-24 11:51:02 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:02 [debug] Diagnostics for board 50:
2025-04-24 11:51:02 [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 11:51:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:07 ago, cause: software
2025-04-24 11:51:02 [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 11:51:02 [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 11:51:02 [debug] Moves scheduled 20734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 95, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:51:02 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17195, writes 0 timeouts 0
2025-04-24 11:51:02 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36111/37175
2025-04-24 11:51:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:02 [info] currentZPosition:0.157
2025-04-24 11:51:04 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:04 [debug] Diagnostics for board 50:
2025-04-24 11:51:04 [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 11:51:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:53:09 ago, cause: software
2025-04-24 11:51:04 [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 11:51:04 [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 11:51:04 [debug] Moves scheduled 20738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 99, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:51:04 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16734, writes 0 timeouts 0
2025-04-24 11:51:04 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36167/37173
2025-04-24 11:51:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:04 [info] currentZPosition:0.156
2025-04-24 11:51:05 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:05 [debug] Diagnostics for board 50:
2025-04-24 11:51:05 [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 11:51:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:10 ago, cause: software
2025-04-24 11:51:05 [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 11:51:05 [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 11:51:05 [debug] Moves scheduled 20742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=496, max=17045
Sync err accum 99, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:05 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16743, writes 11 timeouts 1
2025-04-24 11:51:05 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37175
2025-04-24 11:51:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:05 [info] currentZPosition:0.157
2025-04-24 11:51:06 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:06 [debug] Diagnostics for board 50:
2025-04-24 11:51:06 [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 11:51:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:11 ago, cause: software
2025-04-24 11:51:06 [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 11:51:06 [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 11:51:06 [debug] Moves scheduled 20746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=112, frequency (Hz): min=6696, max=17857
Sync err accum 95, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:51:06 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16560, writes 0 timeouts 0
2025-04-24 11:51:06 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37176
2025-04-24 11:51:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:06 [info] currentZPosition:0.157
2025-04-24 11:51:08 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:08 [debug] Diagnostics for board 50:
2025-04-24 11:51:08 [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 11:51:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:13 ago, cause: software
2025-04-24 11:51:08 [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 11:51:08 [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 11:51:08 [debug] Moves scheduled 20750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=5952, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:08 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17390, writes 0 timeouts 0
2025-04-24 11:51:08 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37174
2025-04-24 11:51:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:08 [info] currentZPosition:0.157
2025-04-24 11:51:09 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:09 [debug] Diagnostics for board 50:
2025-04-24 11:51:09 [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 11:51:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:14 ago, cause: software
2025-04-24 11:51:09 [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 11:51:09 [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 11:51:09 [debug] Moves scheduled 20754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 89, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935123 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:09 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 16278, writes 0 timeouts 0
2025-04-24 11:51:09 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37176
2025-04-24 11:51:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:09 [info] currentZPosition:0.158
2025-04-24 11:51:10 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:10 [debug] Diagnostics for board 50:
2025-04-24 11:51:10 [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 11:51:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:15 ago, cause: software
2025-04-24 11:51:10 [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 11:51:10 [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 11:51:10 [debug] Moves scheduled 20758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934010 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:10 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17468, writes 0 timeouts 0
2025-04-24 11:51:10 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37177
2025-04-24 11:51:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:11 [info] currentZPosition:0.157
2025-04-24 11:51:12 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:12 [debug] Diagnostics for board 50:
2025-04-24 11:51:12 [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 11:51:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:17 ago, cause: software
2025-04-24 11:51:12 [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 11:51:12 [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 11:51:12 [debug] Moves scheduled 20762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:12 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16780, writes 0 timeouts 0
2025-04-24 11:51:12 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37173
2025-04-24 11:51:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:12 [info] currentZPosition:0.156
2025-04-24 11:51:13 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:13 [debug] Diagnostics for board 50:
2025-04-24 11:51:13 [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 11:51:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:18 ago, cause: software
2025-04-24 11:51:13 [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 11:51:13 [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 11:51:13 [debug] Moves scheduled 20766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5639, max=18292
Sync err accum 60, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:13 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17087, writes 0 timeouts 0
2025-04-24 11:51:13 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36098/37174
2025-04-24 11:51:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:13 [info] currentZPosition:0.157
2025-04-24 11:51:14 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:14 [debug] Diagnostics for board 50:
2025-04-24 11:51:14 [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 11:51:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:19 ago, cause: software
2025-04-24 11:51:14 [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 11:51:14 [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 11:51:14 [debug] Moves scheduled 20770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 70, peak jitter -1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:14 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16470, writes 0 timeouts 0
2025-04-24 11:51:14 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37175
2025-04-24 11:51:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:15 [info] currentZPosition:0.157
2025-04-24 11:51:16 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:16 [debug] Diagnostics for board 50:
2025-04-24 11:51:16 [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 11:51:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:21 ago, cause: software
2025-04-24 11:51:16 [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 11:51:16 [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 11:51:16 [debug] Moves scheduled 20774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 85, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:16 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 17025, writes 0 timeouts 0
2025-04-24 11:51:16 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37169
2025-04-24 11:51:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:16 [info] currentZPosition:0.158
2025-04-24 11:51:17 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:17 [debug] Diagnostics for board 50:
2025-04-24 11:51:17 [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 11:51:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:22 ago, cause: software
2025-04-24 11:51:17 [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 11:51:17 [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 11:51:17 [debug] Moves scheduled 20778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 100, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:17 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17244, writes 0 timeouts 0
2025-04-24 11:51:17 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37171
2025-04-24 11:51:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:17 [info] currentZPosition:0.156
2025-04-24 11:51:18 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:19 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:19 [debug] Diagnostics for board 50:
2025-04-24 11:51:19 [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 11:51:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:24 ago, cause: software
2025-04-24 11:51:19 [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 11:51:19 [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 11:51:19 [debug] Moves scheduled 20784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 114, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:19 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20607, writes 0 timeouts 0
2025-04-24 11:51:19 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37171
2025-04-24 11:51:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:19 [info] currentZPosition:0.157
2025-04-24 11:51:20 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:20 [debug] Diagnostics for board 50:
2025-04-24 11:51:20 [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 11:51:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:25 ago, cause: software
2025-04-24 11:51:20 [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 11:51:20 [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 11:51:20 [debug] Moves scheduled 20788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 124, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:20 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16935, writes 0 timeouts 0
2025-04-24 11:51:20 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37175
2025-04-24 11:51:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:20 [info] currentZPosition:0.156
2025-04-24 11:51:22 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:22 [debug] Diagnostics for board 50:
2025-04-24 11:51:22 [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 11:51:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:53:26 ago, cause: software
2025-04-24 11:51:22 [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 11:51:22 [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 11:51:22 [debug] Moves scheduled 20792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 123, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:22 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16921, writes 0 timeouts 0
2025-04-24 11:51:22 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37177
2025-04-24 11:51:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:22 [info] currentZPosition:0.157
2025-04-24 11:51:23 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:23 [debug] Diagnostics for board 50:
2025-04-24 11:51:23 [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 11:51:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:28 ago, cause: software
2025-04-24 11:51:23 [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 11:51:23 [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 11:51:23 [debug] Moves scheduled 20796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 110, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:51:23 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16579, writes 0 timeouts 0
2025-04-24 11:51:23 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36406/37171
2025-04-24 11:51:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:23 [info] currentZPosition:0.158
2025-04-24 11:51:24 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:24 [debug] Diagnostics for board 50:
2025-04-24 11:51:24 [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 11:51:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:29 ago, cause: software
2025-04-24 11:51:24 [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 11:51:24 [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 11:51:24 [debug] Moves scheduled 20800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6465, max=17045
Sync err accum 98, peak jitter -4/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:24 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17331, writes 0 timeouts 0
2025-04-24 11:51:24 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37177
2025-04-24 11:51:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:24 [info] currentZPosition:0.157
2025-04-24 11:51:26 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:26 [debug] Diagnostics for board 50:
2025-04-24 11:51:26 [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 11:51:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:30 ago, cause: software
2025-04-24 11:51:26 [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 11:51:26 [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 11:51:26 [debug] Moves scheduled 20804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=149, frequency (Hz): min=5208, max=17045
Sync err accum 82, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:51:26 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16466, writes 0 timeouts 0
2025-04-24 11:51:26 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37179
2025-04-24 11:51:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:26 [info] currentZPosition:0.158
2025-04-24 11:51:27 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:27 [debug] Diagnostics for board 50:
2025-04-24 11:51:27 [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 11:51:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:32 ago, cause: software
2025-04-24 11:51:27 [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 11:51:27 [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 11:51:27 [debug] Moves scheduled 20808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 65, peak jitter -4/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:27 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17629, writes 0 timeouts 0
2025-04-24 11:51:27 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36113/37173
2025-04-24 11:51:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:27 [info] currentZPosition:0.156
2025-04-24 11:51:28 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:28 [debug] Diagnostics for board 50:
2025-04-24 11:51:28 [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 11:51:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:33 ago, cause: software
2025-04-24 11:51:28 [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 11:51:28 [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 11:51:28 [debug] Moves scheduled 20812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 67, peak jitter -2/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:28 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16868, writes 0 timeouts 0
2025-04-24 11:51:28 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36379/37174
2025-04-24 11:51:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:28 [info] currentZPosition:0.156
2025-04-24 11:51:30 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:30 [debug] Diagnostics for board 50:
2025-04-24 11:51:30 [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 11:51:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:35 ago, cause: software
2025-04-24 11:51:30 [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 11:51:30 [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 11:51:30 [debug] Moves scheduled 20816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 78, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:51:30 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16941, writes 0 timeouts 0
2025-04-24 11:51:30 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36006/37175
2025-04-24 11:51:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:30 [info] currentZPosition:0.156
2025-04-24 11:51:31 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:31 [debug] Diagnostics for board 50:
2025-04-24 11:51:31 [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 11:51:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:36 ago, cause: software
2025-04-24 11:51:31 [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 11:51:31 [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 11:51:31 [debug] Moves scheduled 20820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 86, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:31 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16341, writes 0 timeouts 0
2025-04-24 11:51:31 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37173
2025-04-24 11:51:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:31 [info] currentZPosition:0.157
2025-04-24 11:51:32 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:32 [debug] Diagnostics for board 50:
2025-04-24 11:51:32 [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 11:51:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:37 ago, cause: software
2025-04-24 11:51:32 [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 11:51:32 [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 11:51:32 [debug] Moves scheduled 20824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 93, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:32 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17284, writes 0 timeouts 0
2025-04-24 11:51:32 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37176
2025-04-24 11:51:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:33 [info] currentZPosition:0.157
2025-04-24 11:51:34 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:34 [debug] Diagnostics for board 50:
2025-04-24 11:51:34 [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 11:51:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:39 ago, cause: software
2025-04-24 11:51:34 [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 11:51:34 [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 11:51:34 [debug] Moves scheduled 20828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 99, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294903406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:34 [debug] Driver 0: pos -3507, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 17248, writes 0 timeouts 0
2025-04-24 11:51:34 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37174
2025-04-24 11:51:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:34 [info] currentZPosition:0.157
2025-04-24 11:51:35 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:35 [debug] Diagnostics for board 50:
2025-04-24 11:51:35 [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 11:51:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:40 ago, cause: software
2025-04-24 11:51:35 [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 11:51:35 [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 11:51:35 [debug] Moves scheduled 20832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:35 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17070, writes 0 timeouts 0
2025-04-24 11:51:35 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37176
2025-04-24 11:51:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:35 [info] currentZPosition:0.157
2025-04-24 11:51:37 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:37 [debug] Diagnostics for board 50:
2025-04-24 11:51:37 [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 11:51:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:41 ago, cause: software
2025-04-24 11:51:37 [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 11:51:37 [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 11:51:37 [debug] Moves scheduled 20836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6355, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294931783 ticks, 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 11:51:37 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16579, writes 0 timeouts 0
2025-04-24 11:51:37 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36396/37174
2025-04-24 11:51:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:37 [info] currentZPosition:0.158
2025-04-24 11:51:38 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:38 [debug] Diagnostics for board 50:
2025-04-24 11:51:38 [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 11:51:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:43 ago, cause: software
2025-04-24 11:51:38 [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 11:51:38 [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 11:51:38 [debug] Moves scheduled 20840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:38 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17559, writes 0 timeouts 0
2025-04-24 11:51:38 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37177
2025-04-24 11:51:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:38 [info] currentZPosition:0.156
2025-04-24 11:51:39 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:39 [debug] Diagnostics for board 50:
2025-04-24 11:51:39 [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 11:51:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:44 ago, cause: software
2025-04-24 11:51:39 [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 11:51:39 [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 11:51:39 [debug] Moves scheduled 20844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 97, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:39 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16453, writes 0 timeouts 0
2025-04-24 11:51:39 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36397/37169
2025-04-24 11:51:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:39 [info] currentZPosition:0.157
2025-04-24 11:51:41 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:41 [debug] Diagnostics for board 50:
2025-04-24 11:51:41 [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 11:51:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:45 ago, cause: software
2025-04-24 11:51:41 [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 11:51:41 [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 11:51:41 [debug] Moves scheduled 20848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 88, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:51:41 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17271, writes 0 timeouts 0
2025-04-24 11:51:41 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37177
2025-04-24 11:51:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:41 [info] currentZPosition:0.156
2025-04-24 11:51:42 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:42 [debug] Diagnostics for board 50:
2025-04-24 11:51:42 [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 11:51:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:47 ago, cause: software
2025-04-24 11:51:42 [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 11:51:42 [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 11:51:42 [debug] Moves scheduled 20852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=18292
Sync err accum 79, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:42 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16640, writes 0 timeouts 0
2025-04-24 11:51:42 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37176
2025-04-24 11:51:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:42 [info] currentZPosition:0.156
2025-04-24 11:51:43 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:43 [debug] Diagnostics for board 50:
2025-04-24 11:51:43 [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 11:51:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:48 ago, cause: software
2025-04-24 11:51:43 [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 11:51:43 [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 11:51:43 [debug] Moves scheduled 20856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
Sync err accum 68, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:43 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16761, writes 0 timeouts 0
2025-04-24 11:51:43 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37177
2025-04-24 11:51:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:43 [info] currentZPosition:0.158
2025-04-24 11:51:45 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:45 [debug] Diagnostics for board 50:
2025-04-24 11:51:45 [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 11:51:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:49 ago, cause: software
2025-04-24 11:51:45 [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 11:51:45 [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 11:51:45 [debug] Moves scheduled 20860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 67, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:45 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16704, writes 0 timeouts 0
2025-04-24 11:51:45 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36383/37178
2025-04-24 11:51:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:45 [info] currentZPosition:0.157
2025-04-24 11:51:46 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:46 [debug] Diagnostics for board 50:
2025-04-24 11:51:46 [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 11:51:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:51 ago, cause: software
2025-04-24 11:51:46 [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 11:51:46 [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 11:51:46 [debug] Moves scheduled 20864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 70, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:46 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 17102, writes 0 timeouts 0
2025-04-24 11:51:46 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37172
2025-04-24 11:51:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:46 [info] currentZPosition:0.158
2025-04-24 11:51:47 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:47 [debug] Diagnostics for board 50:
2025-04-24 11:51:47 [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 11:51:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:52 ago, cause: software
2025-04-24 11:51:47 [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 11:51:47 [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 11:51:47 [debug] Moves scheduled 20868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:47 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16627, writes 0 timeouts 0
2025-04-24 11:51:47 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36405/37176
2025-04-24 11:51:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:47 [info] currentZPosition:0.158
2025-04-24 11:51:49 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:49 [debug] Diagnostics for board 50:
2025-04-24 11:51:49 [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 11:51:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:54 ago, cause: software
2025-04-24 11:51:49 [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 11:51:49 [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 11:51:49 [debug] Moves scheduled 20872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 73, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:49 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17318, writes 0 timeouts 0
2025-04-24 11:51:49 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37177
2025-04-24 11:51:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:49 [info] currentZPosition:0.157
2025-04-24 11:51:50 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:50 [debug] Diagnostics for board 50:
2025-04-24 11:51:50 [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 11:51:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:55 ago, cause: software
2025-04-24 11:51:50 [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 11:51:50 [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 11:51:50 [debug] Moves scheduled 20876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 69, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:50 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16610, writes 0 timeouts 0
2025-04-24 11:51:50 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37176
2025-04-24 11:51:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:50 [info] currentZPosition:0.157
2025-04-24 11:51:51 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:51 [debug] Diagnostics for board 50:
2025-04-24 11:51:51 [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 11:51:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:56 ago, cause: software
2025-04-24 11:51:51 [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 11:51:51 [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 11:51:51 [debug] Moves scheduled 20880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=498, max=17441
Sync err accum 65, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:51 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17301, writes 11 timeouts 1
2025-04-24 11:51:51 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 11:51:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:51 [info] currentZPosition:0.157
2025-04-24 11:51:53 [debug] Stopped at height 0.156 mm
2025-04-24 11:51:53 [debug] Diagnostics for board 50:
2025-04-24 11:51:53 [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 11:51:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:58 ago, cause: software
2025-04-24 11:51:53 [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 11:51:53 [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 11:51:53 [debug] Moves scheduled 20884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5813, max=17045
Sync err accum 67, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:53 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16846, writes 0 timeouts 0
2025-04-24 11:51:53 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36403/37177
2025-04-24 11:51:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:53 [info] currentZPosition:0.156
2025-04-24 11:51:54 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:54 [debug] Diagnostics for board 50:
2025-04-24 11:51:54 [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 11:51:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:53:59 ago, cause: software
2025-04-24 11:51:54 [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 11:51:54 [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 11:51:54 [debug] Moves scheduled 20888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=7009, max=17857
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 4294935415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:51:54 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16542, writes 0 timeouts 0
2025-04-24 11:51:54 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36109/37171
2025-04-24 11:51:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:54 [info] currentZPosition:0.158
2025-04-24 11:51:54 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:56 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:56 [debug] Diagnostics for board 50:
2025-04-24 11:51:56 [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 11:51:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:01 ago, cause: software
2025-04-24 11:51:56 [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 11:51:56 [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 11:51:56 [debug] Moves scheduled 20894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 84, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:51:56 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20987, writes 0 timeouts 0
2025-04-24 11:51:56 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36394/37175
2025-04-24 11:51:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:56 [info] currentZPosition:0.157
2025-04-24 11:51:56 [debug] Stopped at height 0.159 mm
2025-04-24 11:51:57 [debug] Stopped at height 0.157 mm
2025-04-24 11:51:57 [debug] Diagnostics for board 50:
2025-04-24 11:51:57 [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 11:51:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:02 ago, cause: software
2025-04-24 11:51:57 [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 11:51:57 [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 11:51:57 [debug] Moves scheduled 20900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 88, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:51:57 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20919, writes 0 timeouts 0
2025-04-24 11:51:57 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37177
2025-04-24 11:51:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:58 [info] currentZPosition:0.157
2025-04-24 11:51:58 [debug] Stopped at height 0.159 mm
2025-04-24 11:51:59 [debug] Stopped at height 0.158 mm
2025-04-24 11:51:59 [debug] Diagnostics for board 50:
2025-04-24 11:51:59 [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 11:51:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:04 ago, cause: software
2025-04-24 11:51:59 [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 11:51:59 [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 11:51:59 [debug] Moves scheduled 20906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 88, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:51:59 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20301, writes 0 timeouts 0
2025-04-24 11:51:59 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36405/37176
2025-04-24 11:51:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:51:59 [info] currentZPosition:0.158
2025-04-24 11:51:59 [debug] Stopped at height 0.160 mm
2025-04-24 11:52:01 [debug] Stopped at height 0.155 mm
2025-04-24 11:52:01 [debug] Diagnostics for board 50:
2025-04-24 11:52:01 [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 11:52:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:06 ago, cause: software
2025-04-24 11:52:01 [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 11:52:01 [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 11:52:01 [debug] Moves scheduled 20912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:01 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 21804, writes 0 timeouts 0
2025-04-24 11:52:01 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37176
2025-04-24 11:52:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:01 [info] currentZPosition:0.155
2025-04-24 11:52:01 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:02 [debug] Stopped at height 0.155 mm
2025-04-24 11:52:02 [debug] Stopped at height 0.155 mm
2025-04-24 11:52:03 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:03 [debug] Diagnostics for board 50:
2025-04-24 11:52:03 [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 11:52:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:08 ago, cause: software
2025-04-24 11:52:03 [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 11:52:03 [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 11:52:03 [debug] Moves scheduled 20922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:03 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 27678, writes 0 timeouts 0
2025-04-24 11:52:03 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, send timeouts 0, received 32, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36273/37177
2025-04-24 11:52:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:03 [info] currentZPosition:0.158
2025-04-24 11:52:04 [debug] Stopped at height 0.156 mm
2025-04-24 11:52:05 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:05 [debug] Diagnostics for board 50:
2025-04-24 11:52:05 [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 11:52:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:10 ago, cause: software
2025-04-24 11:52:05 [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 11:52:05 [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 11:52:05 [debug] Moves scheduled 20928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 61, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294764944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:05 [debug] Driver 0: pos -3505, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 39596, writes 0 timeouts 0
2025-04-24 11:52:05 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 66, 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 286, adv 36092/37176
2025-04-24 11:52:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:06 [info] currentZPosition:0.158
2025-04-24 11:52:07 [debug] Stopped at height 0.156 mm
2025-04-24 11:52:08 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:08 [debug] Diagnostics for board 50:
2025-04-24 11:52:08 [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 11:52:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:13 ago, cause: software
2025-04-24 11:52:08 [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 11:52:08 [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 11:52:08 [debug] Moves scheduled 20934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 76, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:52:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 20497, writes 0 timeouts 0
2025-04-24 11:52:08 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37174
2025-04-24 11:52:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:08 [info] currentZPosition:0.158
2025-04-24 11:52:08 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:10 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:10 [debug] Diagnostics for board 50:
2025-04-24 11:52:10 [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 11:52:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:14 ago, cause: software
2025-04-24 11:52:10 [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 11:52:10 [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 11:52:10 [debug] Moves scheduled 20940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:52:10 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20893, writes 0 timeouts 0
2025-04-24 11:52:10 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37174
2025-04-24 11:52:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:10 [info] currentZPosition:0.159
2025-04-24 11:52:10 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:11 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:11 [debug] Diagnostics for board 50:
2025-04-24 11:52:11 [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 11:52:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:16 ago, cause: software
2025-04-24 11:52:11 [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 11:52:11 [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 11:52:11 [debug] Moves scheduled 20946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=18292
Sync err accum 90, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:11 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20696, writes 0 timeouts 0
2025-04-24 11:52:11 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36162/37177
2025-04-24 11:52:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:11 [info] currentZPosition:0.158
2025-04-24 11:52:13 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:13 [debug] Diagnostics for board 50:
2025-04-24 11:52:13 [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 11:52:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:17 ago, cause: software
2025-04-24 11:52:13 [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 11:52:13 [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 11:52:13 [debug] Moves scheduled 20950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 90, peak jitter 0/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:52:13 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17433, writes 0 timeouts 0
2025-04-24 11:52:13 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36094/37175
2025-04-24 11:52:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:13 [info] currentZPosition:0.157
2025-04-24 11:52:14 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:14 [debug] Diagnostics for board 50:
2025-04-24 11:52:14 [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 11:52:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:19 ago, cause: software
2025-04-24 11:52:14 [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 11:52:14 [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 11:52:14 [debug] Moves scheduled 20954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:14 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16566, writes 0 timeouts 0
2025-04-24 11:52:14 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37179
2025-04-24 11:52:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:14 [info] currentZPosition:0.157
2025-04-24 11:52:15 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:15 [debug] Diagnostics for board 50:
2025-04-24 11:52:15 [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 11:52:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:20 ago, cause: software
2025-04-24 11:52:15 [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 11:52:15 [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 11:52:15 [debug] Moves scheduled 20958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=18292
Sync err accum 87, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933986 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:15 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16949, writes 0 timeouts 0
2025-04-24 11:52:15 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36096/37178
2025-04-24 11:52:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:15 [info] currentZPosition:0.158
2025-04-24 11:52:17 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:17 [debug] Diagnostics for board 50:
2025-04-24 11:52:17 [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 11:52:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:21 ago, cause: software
2025-04-24 11:52:17 [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 11:52:17 [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 11:52:17 [debug] Moves scheduled 20962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=494, max=17045
Sync err accum 81, peak jitter -1/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:17 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16758, writes 11 timeouts 1
2025-04-24 11:52:17 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36155/37176
2025-04-24 11:52:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:17 [info] currentZPosition:0.157
2025-04-24 11:52:18 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:18 [debug] Diagnostics for board 50:
2025-04-24 11:52:18 [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 11:52:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:23 ago, cause: software
2025-04-24 11:52:18 [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 11:52:18 [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 11:52:18 [debug] Moves scheduled 20966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:18 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16764, writes 0 timeouts 0
2025-04-24 11:52:18 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37177
2025-04-24 11:52:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:18 [info] currentZPosition:0.159
2025-04-24 11:52:18 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:20 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:20 [debug] Diagnostics for board 50:
2025-04-24 11:52:20 [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 11:52:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:24 ago, cause: software
2025-04-24 11:52:20 [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 11:52:20 [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 11:52:20 [debug] Moves scheduled 20972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 61, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:20 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20849, writes 0 timeouts 0
2025-04-24 11:52:20 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37176
2025-04-24 11:52:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:20 [info] currentZPosition:0.158
2025-04-24 11:52:21 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:21 [debug] Diagnostics for board 50:
2025-04-24 11:52:21 [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 11:52:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:26 ago, cause: software
2025-04-24 11:52:21 [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 11:52:21 [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 11:52:21 [debug] Moves scheduled 20976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6302, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:21 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17148, writes 0 timeouts 0
2025-04-24 11:52:21 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36109/37175
2025-04-24 11:52:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:21 [info] currentZPosition:0.158
2025-04-24 11:52:22 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:22 [debug] Diagnostics for board 50:
2025-04-24 11:52:22 [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 11:52:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:27 ago, cause: software
2025-04-24 11:52:22 [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 11:52:22 [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 11:52:22 [debug] Moves scheduled 20980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6521, max=17857
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:22 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16635, writes 0 timeouts 0
2025-04-24 11:52:22 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36163/37173
2025-04-24 11:52:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:22 [info] currentZPosition:0.157
2025-04-24 11:52:24 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:24 [debug] Diagnostics for board 50:
2025-04-24 11:52:24 [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 11:52:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:29 ago, cause: software
2025-04-24 11:52:24 [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 11:52:24 [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 11:52:24 [debug] Moves scheduled 20984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6198, max=17857
Sync err accum 93, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:24 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17190, writes 0 timeouts 0
2025-04-24 11:52:24 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37173
2025-04-24 11:52:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:24 [info] currentZPosition:0.158
2025-04-24 11:52:25 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:25 [debug] Diagnostics for board 50:
2025-04-24 11:52:25 [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 11:52:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:30 ago, cause: software
2025-04-24 11:52:25 [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 11:52:25 [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 11:52:25 [debug] Moves scheduled 20988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=7009, max=17045
Sync err accum 100, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:25 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16419, writes 0 timeouts 0
2025-04-24 11:52:25 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36165/37173
2025-04-24 11:52:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:25 [info] currentZPosition:0.158
2025-04-24 11:52:26 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:26 [debug] Diagnostics for board 50:
2025-04-24 11:52:26 [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 11:52:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:31 ago, cause: software
2025-04-24 11:52:26 [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 11:52:26 [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 11:52:26 [debug] Moves scheduled 20992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=17441
Sync err accum 103, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:26 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16821, writes 0 timeouts 0
2025-04-24 11:52:26 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36106/37172
2025-04-24 11:52:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:26 [info] currentZPosition:0.159
2025-04-24 11:52:28 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:28 [debug] Diagnostics for board 50:
2025-04-24 11:52:28 [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 11:52:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:33 ago, cause: software
2025-04-24 11:52:28 [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 11:52:28 [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 11:52:28 [debug] Moves scheduled 20996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 103, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:28 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16828, writes 0 timeouts 0
2025-04-24 11:52:28 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37176
2025-04-24 11:52:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:28 [info] currentZPosition:0.159
2025-04-24 11:52:29 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:29 [debug] Diagnostics for board 50:
2025-04-24 11:52:29 [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 11:52:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:34 ago, cause: software
2025-04-24 11:52:29 [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 11:52:29 [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 11:52:29 [debug] Moves scheduled 21000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 103, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:29 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17291, writes 0 timeouts 0
2025-04-24 11:52:29 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37174
2025-04-24 11:52:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:29 [info] currentZPosition:0.158
2025-04-24 11:52:30 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:30 [debug] Diagnostics for board 50:
2025-04-24 11:52:30 [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 11:52:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:35 ago, cause: software
2025-04-24 11:52:30 [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 11:52:30 [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 11:52:30 [debug] Moves scheduled 21004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6198, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:52:30 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16435, writes 0 timeouts 0
2025-04-24 11:52:30 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37174
2025-04-24 11:52:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:30 [info] currentZPosition:0.159
2025-04-24 11:52:32 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:32 [debug] Diagnostics for board 50:
2025-04-24 11:52:32 [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 11:52:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:37 ago, cause: software
2025-04-24 11:52:32 [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 11:52:32 [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 11:52:32 [debug] Moves scheduled 21008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 95, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:32 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17583, writes 0 timeouts 0
2025-04-24 11:52:32 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37172
2025-04-24 11:52:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:32 [info] currentZPosition:0.157
2025-04-24 11:52:32 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:33 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:33 [debug] Diagnostics for board 50:
2025-04-24 11:52:33 [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 11:52:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:38 ago, cause: software
2025-04-24 11:52:33 [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 11:52:33 [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 11:52:33 [debug] Moves scheduled 21014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:33 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20364, writes 0 timeouts 0
2025-04-24 11:52:33 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36166/37179
2025-04-24 11:52:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:34 [info] currentZPosition:0.158
2025-04-24 11:52:34 [debug] Stopped at height 0.156 mm
2025-04-24 11:52:35 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:35 [debug] Diagnostics for board 50:
2025-04-24 11:52:35 [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 11:52:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:40 ago, cause: software
2025-04-24 11:52:35 [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 11:52:35 [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 11:52:35 [debug] Moves scheduled 21020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:52:35 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 20938, writes 0 timeouts 0
2025-04-24 11:52:35 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37176
2025-04-24 11:52:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:35 [info] currentZPosition:0.159
2025-04-24 11:52:35 [debug] Stopped at height 0.161 mm
2025-04-24 11:52:36 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:37 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:37 [debug] Diagnostics for board 50:
2025-04-24 11:52:37 [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 11:52:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:42 ago, cause: software
2025-04-24 11:52:37 [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 11:52:37 [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 11:52:37 [debug] Moves scheduled 21028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 64, peak jitter -3/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:37 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 24561, writes 0 timeouts 0
2025-04-24 11:52:37 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 36165/37179
2025-04-24 11:52:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:37 [info] currentZPosition:0.159
2025-04-24 11:52:38 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:38 [debug] Diagnostics for board 50:
2025-04-24 11:52:38 [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 11:52:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:43 ago, cause: software
2025-04-24 11:52:38 [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 11:52:38 [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 11:52:38 [debug] Moves scheduled 21032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:52:38 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17470, writes 0 timeouts 0
2025-04-24 11:52:38 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36109/37174
2025-04-24 11:52:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:39 [info] currentZPosition:0.158
2025-04-24 11:52:40 [debug] Stopped at height 0.160 mm
2025-04-24 11:52:40 [debug] Diagnostics for board 50:
2025-04-24 11:52:40 [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 11:52:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:45 ago, cause: software
2025-04-24 11:52:40 [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 11:52:40 [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 11:52:40 [debug] Moves scheduled 21036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17857
Sync err accum 76, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:40 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min 0, mspos 856, reads 15972, writes 0 timeouts 0
2025-04-24 11:52:40 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37176
2025-04-24 11:52:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:40 [info] currentZPosition:0.160
2025-04-24 11:52:40 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:41 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:41 [debug] Diagnostics for board 50:
2025-04-24 11:52:41 [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 11:52:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:46 ago, cause: software
2025-04-24 11:52:41 [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 11:52:41 [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 11:52:41 [debug] Moves scheduled 21042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:41 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21872, writes 0 timeouts 0
2025-04-24 11:52:41 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37177
2025-04-24 11:52:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:42 [info] currentZPosition:0.158
2025-04-24 11:52:42 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:43 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:43 [debug] Diagnostics for board 50:
2025-04-24 11:52:43 [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 11:52:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:48 ago, cause: software
2025-04-24 11:52:43 [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 11:52:43 [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 11:52:43 [debug] Moves scheduled 21048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:52:43 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20330, writes 0 timeouts 0
2025-04-24 11:52:43 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36165/37176
2025-04-24 11:52:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:43 [info] currentZPosition:0.159
2025-04-24 11:52:44 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:45 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:45 [debug] Diagnostics for board 50:
2025-04-24 11:52:45 [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 11:52:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:50 ago, cause: software
2025-04-24 11:52:45 [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 11:52:45 [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 11:52:45 [debug] Moves scheduled 21054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=7009, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:45 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 21076, writes 0 timeouts 0
2025-04-24 11:52:45 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36092/37176
2025-04-24 11:52:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:45 [info] currentZPosition:0.159
2025-04-24 11:52:46 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:46 [debug] Diagnostics for board 50:
2025-04-24 11:52:46 [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 11:52:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:51 ago, cause: software
2025-04-24 11:52:46 [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 11:52:46 [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 11:52:46 [debug] Moves scheduled 21058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 79, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:46 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17043, writes 0 timeouts 0
2025-04-24 11:52:46 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36149/37176
2025-04-24 11:52:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:46 [info] currentZPosition:0.158
2025-04-24 11:52:47 [debug] Stopped at height 0.157 mm
2025-04-24 11:52:48 [debug] Stopped at height 0.160 mm
2025-04-24 11:52:48 [debug] Diagnostics for board 50:
2025-04-24 11:52:48 [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 11:52:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:53 ago, cause: software
2025-04-24 11:52:48 [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 11:52:48 [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 11:52:48 [debug] Moves scheduled 21064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=722, max=17441
Sync err accum 67, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:48 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20480, writes 11 timeouts 1
2025-04-24 11:52:48 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36104/37177
2025-04-24 11:52:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:48 [info] currentZPosition:0.160
2025-04-24 11:52:48 [debug] Stopped at height 0.158 mm
2025-04-24 11:52:49 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:49 [debug] Diagnostics for board 50:
2025-04-24 11:52:49 [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 11:52:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:54 ago, cause: software
2025-04-24 11:52:49 [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 11:52:49 [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 11:52:49 [debug] Moves scheduled 21070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:49 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20621, writes 0 timeouts 0
2025-04-24 11:52:49 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36155/37175
2025-04-24 11:52:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:50 [info] currentZPosition:0.159
2025-04-24 11:52:50 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:51 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:51 [debug] Diagnostics for board 50:
2025-04-24 11:52:51 [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 11:52:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:56 ago, cause: software
2025-04-24 11:52:51 [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 11:52:51 [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 11:52:51 [debug] Moves scheduled 21076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6410, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:51 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21107, writes 0 timeouts 0
2025-04-24 11:52:51 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37175
2025-04-24 11:52:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:51 [info] currentZPosition:0.159
2025-04-24 11:52:52 [debug] Stopped at height 0.160 mm
2025-04-24 11:52:52 [debug] Diagnostics for board 50:
2025-04-24 11:52:52 [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 11:52:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:57 ago, cause: software
2025-04-24 11:52:52 [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 11:52:52 [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 11:52:52 [debug] Moves scheduled 21080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 90, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:52:52 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16439, writes 0 timeouts 0
2025-04-24 11:52:52 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36151/37173
2025-04-24 11:52:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:53 [info] currentZPosition:0.160
2025-04-24 11:52:54 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:54 [debug] Diagnostics for board 50:
2025-04-24 11:52:54 [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 11:52:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:54:59 ago, cause: software
2025-04-24 11:52:54 [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 11:52:54 [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 11:52:54 [debug] Moves scheduled 21084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6355, max=17045
Sync err accum 98, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:54 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17482, writes 0 timeouts 0
2025-04-24 11:52:54 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37177
2025-04-24 11:52:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:54 [info] currentZPosition:0.159
2025-04-24 11:52:55 [debug] Stopped at height 0.161 mm
2025-04-24 11:52:55 [debug] Diagnostics for board 50:
2025-04-24 11:52:55 [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 11:52:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:00 ago, cause: software
2025-04-24 11:52:55 [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 11:52:55 [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 11:52:55 [debug] Moves scheduled 21088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 104, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:55 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 15982, writes 0 timeouts 0
2025-04-24 11:52:55 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37174
2025-04-24 11:52:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:55 [info] currentZPosition:0.161
2025-04-24 11:52:56 [debug] Stopped at height 0.159 mm
2025-04-24 11:52:57 [debug] Stopped at height 0.160 mm
2025-04-24 11:52:57 [debug] Diagnostics for board 50:
2025-04-24 11:52:57 [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 11:52:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:02 ago, cause: software
2025-04-24 11:52:57 [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 11:52:57 [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 11:52:57 [debug] Moves scheduled 21094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17857
Sync err accum 107, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:52:57 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 21323, writes 0 timeouts 0
2025-04-24 11:52:57 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36107/37176
2025-04-24 11:52:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:57 [info] currentZPosition:0.160
2025-04-24 11:52:58 [debug] Stopped at height 0.160 mm
2025-04-24 11:52:58 [debug] Diagnostics for board 50:
2025-04-24 11:52:58 [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 11:52:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:03 ago, cause: software
2025-04-24 11:52:58 [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 11:52:58 [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 11:52:58 [debug] Moves scheduled 21098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 106, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:52:58 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16602, writes 0 timeouts 0
2025-04-24 11:52:58 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37175
2025-04-24 11:52:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:52:58 [info] currentZPosition:0.160
2025-04-24 11:53:00 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:00 [debug] Diagnostics for board 50:
2025-04-24 11:53:00 [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 11:53:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:04 ago, cause: software
2025-04-24 11:53:00 [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 11:53:00 [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 11:53:00 [debug] Moves scheduled 21102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 104, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:00 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17364, writes 0 timeouts 0
2025-04-24 11:53:00 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37176
2025-04-24 11:53:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:00 [info] currentZPosition:0.159
2025-04-24 11:53:01 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:01 [debug] Diagnostics for board 50:
2025-04-24 11:53:01 [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 11:53:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:06 ago, cause: software
2025-04-24 11:53:01 [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 11:53:01 [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 11:53:01 [debug] Moves scheduled 21106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 99, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:01 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16599, writes 0 timeouts 0
2025-04-24 11:53:01 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36279/37175
2025-04-24 11:53:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:01 [info] currentZPosition:0.159
2025-04-24 11:53:02 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:02 [debug] Diagnostics for board 50:
2025-04-24 11:53:02 [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 11:53:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:07 ago, cause: software
2025-04-24 11:53:02 [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 11:53:02 [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 11:53:02 [debug] Moves scheduled 21110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=18292
Sync err accum 88, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:53:02 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17122, writes 0 timeouts 0
2025-04-24 11:53:02 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37179
2025-04-24 11:53:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:02 [info] currentZPosition:0.159
2025-04-24 11:53:04 [debug] Stopped at height 0.158 mm
2025-04-24 11:53:04 [debug] Diagnostics for board 50:
2025-04-24 11:53:04 [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 11:53:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:08 ago, cause: software
2025-04-24 11:53:04 [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 11:53:04 [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 11:53:04 [debug] Moves scheduled 21114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 77, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:04 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16813, writes 0 timeouts 0
2025-04-24 11:53:04 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36406/37178
2025-04-24 11:53:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:04 [info] currentZPosition:0.158
2025-04-24 11:53:05 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:05 [debug] Diagnostics for board 50:
2025-04-24 11:53:05 [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 11:53:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:10 ago, cause: software
2025-04-24 11:53:05 [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 11:53:05 [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 11:53:05 [debug] Moves scheduled 21118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 63, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:05 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17009, writes 0 timeouts 0
2025-04-24 11:53:05 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36091/37179
2025-04-24 11:53:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:05 [info] currentZPosition:0.159
2025-04-24 11:53:06 [debug] Stopped at height 0.158 mm
2025-04-24 11:53:06 [debug] Diagnostics for board 50:
2025-04-24 11:53:06 [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 11:53:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:11 ago, cause: software
2025-04-24 11:53:06 [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 11:53:06 [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 11:53:06 [debug] Moves scheduled 21122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:06 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16938, writes 0 timeouts 0
2025-04-24 11:53:06 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37177
2025-04-24 11:53:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:06 [info] currentZPosition:0.158
2025-04-24 11:53:08 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:08 [debug] Diagnostics for board 50:
2025-04-24 11:53:08 [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 11:53:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:13 ago, cause: software
2025-04-24 11:53:08 [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 11:53:08 [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 11:53:08 [debug] Moves scheduled 21126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:08 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16960, writes 0 timeouts 0
2025-04-24 11:53:08 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 11:53:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:08 [info] currentZPosition:0.159
2025-04-24 11:53:09 [debug] Stopped at height 0.158 mm
2025-04-24 11:53:09 [debug] Diagnostics for board 50:
2025-04-24 11:53:09 [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 11:53:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:14 ago, cause: software
2025-04-24 11:53:09 [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 11:53:09 [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 11:53:09 [debug] Moves scheduled 21130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:09 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16880, writes 0 timeouts 0
2025-04-24 11:53:09 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37173
2025-04-24 11:53:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:09 [info] currentZPosition:0.158
2025-04-24 11:53:10 [debug] Stopped at height 0.157 mm
2025-04-24 11:53:10 [debug] Diagnostics for board 50:
2025-04-24 11:53:10 [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 11:53:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:15 ago, cause: software
2025-04-24 11:53:10 [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 11:53:10 [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 11:53:10 [debug] Moves scheduled 21134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 87, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:10 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17419, writes 0 timeouts 0
2025-04-24 11:53:10 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36096/37175
2025-04-24 11:53:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:11 [info] currentZPosition:0.157
2025-04-24 11:53:12 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:12 [debug] Diagnostics for board 50:
2025-04-24 11:53:12 [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 11:53:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:17 ago, cause: software
2025-04-24 11:53:12 [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 11:53:12 [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 11:53:12 [debug] Moves scheduled 21138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:12 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16091, writes 0 timeouts 0
2025-04-24 11:53:12 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36404/37176
2025-04-24 11:53:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:12 [info] currentZPosition:0.159
2025-04-24 11:53:12 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:13 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:13 [debug] Diagnostics for board 50:
2025-04-24 11:53:13 [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 11:53:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:18 ago, cause: software
2025-04-24 11:53:13 [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 11:53:13 [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 11:53:13 [debug] Moves scheduled 21144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=110, frequency (Hz): min=6578, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:13 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20779, writes 0 timeouts 0
2025-04-24 11:53:13 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37176
2025-04-24 11:53:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:13 [info] currentZPosition:0.160
2025-04-24 11:53:14 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:15 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:15 [debug] Diagnostics for board 50:
2025-04-24 11:53:15 [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 11:53:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:20 ago, cause: software
2025-04-24 11:53:15 [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 11:53:15 [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 11:53:15 [debug] Moves scheduled 21150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 83, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:15 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20877, writes 0 timeouts 0
2025-04-24 11:53:15 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 286, adv 36382/37174
2025-04-24 11:53:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:15 [info] currentZPosition:0.159
2025-04-24 11:53:16 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:16 [debug] Diagnostics for board 50:
2025-04-24 11:53:16 [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 11:53:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:21 ago, cause: software
2025-04-24 11:53:16 [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 11:53:16 [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 11:53:16 [debug] Moves scheduled 21154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6147, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:16 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16967, writes 0 timeouts 0
2025-04-24 11:53:16 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37176
2025-04-24 11:53:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:16 [info] currentZPosition:0.160
2025-04-24 11:53:18 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:18 [debug] Diagnostics for board 50:
2025-04-24 11:53:18 [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 11:53:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:23 ago, cause: software
2025-04-24 11:53:18 [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 11:53:18 [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 11:53:18 [debug] Moves scheduled 21158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:18 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16751, writes 0 timeouts 0
2025-04-24 11:53:18 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36406/37173
2025-04-24 11:53:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:18 [info] currentZPosition:0.160
2025-04-24 11:53:19 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:19 [debug] Diagnostics for board 50:
2025-04-24 11:53:19 [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 11:53:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:24 ago, cause: software
2025-04-24 11:53:19 [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 11:53:19 [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 11:53:19 [debug] Moves scheduled 21162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6250, max=17045
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 4294935830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:19 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17275, writes 0 timeouts 0
2025-04-24 11:53:19 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37178
2025-04-24 11:53:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:19 [info] currentZPosition:0.159
2025-04-24 11:53:20 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:20 [debug] Diagnostics for board 50:
2025-04-24 11:53:20 [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 11:53:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:25 ago, cause: software
2025-04-24 11:53:20 [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 11:53:20 [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 11:53:20 [debug] Moves scheduled 21166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=18292
Sync err accum 70, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:20 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16447, writes 0 timeouts 0
2025-04-24 11:53:20 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37171
2025-04-24 11:53:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:21 [info] currentZPosition:0.160
2025-04-24 11:53:22 [debug] Stopped at height 0.158 mm
2025-04-24 11:53:22 [debug] Diagnostics for board 50:
2025-04-24 11:53:22 [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 11:53:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:27 ago, cause: software
2025-04-24 11:53:22 [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 11:53:22 [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 11:53:22 [debug] Moves scheduled 21170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6578, max=17045
Sync err accum 76, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:22 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17777, writes 0 timeouts 0
2025-04-24 11:53:22 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36096/37176
2025-04-24 11:53:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:22 [info] currentZPosition:0.158
2025-04-24 11:53:22 [debug] Stopped at height 0.158 mm
2025-04-24 11:53:23 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:23 [debug] Diagnostics for board 50:
2025-04-24 11:53:23 [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 11:53:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:28 ago, cause: software
2025-04-24 11:53:23 [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 11:53:23 [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 11:53:23 [debug] Moves scheduled 21176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5859, max=17857
Sync err accum 81, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:23 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 19830, writes 0 timeouts 0
2025-04-24 11:53:23 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36401/37176
2025-04-24 11:53:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:24 [info] currentZPosition:0.160
2025-04-24 11:53:24 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:25 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:25 [debug] Diagnostics for board 50:
2025-04-24 11:53:25 [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 11:53:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:30 ago, cause: software
2025-04-24 11:53:25 [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 11:53:25 [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 11:53:25 [debug] Moves scheduled 21182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 81, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:25 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21460, writes 0 timeouts 0
2025-04-24 11:53:25 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37177
2025-04-24 11:53:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:25 [info] currentZPosition:0.159
2025-04-24 11:53:26 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:27 [debug] Stopped at height 0.158 mm
2025-04-24 11:53:27 [debug] Diagnostics for board 50:
2025-04-24 11:53:27 [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 11:53:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:32 ago, cause: software
2025-04-24 11:53:27 [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 11:53:27 [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 11:53:27 [debug] Moves scheduled 21188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6578, max=17045
Sync err accum 79, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:27 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20891, writes 0 timeouts 0
2025-04-24 11:53:27 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36392/37177
2025-04-24 11:53:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:27 [info] currentZPosition:0.158
2025-04-24 11:53:27 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:28 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:28 [debug] Diagnostics for board 50:
2025-04-24 11:53:28 [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 11:53:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:33 ago, cause: software
2025-04-24 11:53:28 [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 11:53:28 [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 11:53:28 [debug] Moves scheduled 21194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17857
Sync err accum 71, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:28 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20248, writes 0 timeouts 0
2025-04-24 11:53:28 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37177
2025-04-24 11:53:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:29 [info] currentZPosition:0.160
2025-04-24 11:53:29 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:30 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:30 [debug] Diagnostics for board 50:
2025-04-24 11:53:30 [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 11:53:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:35 ago, cause: software
2025-04-24 11:53:30 [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 11:53:30 [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 11:53:30 [debug] Moves scheduled 21200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6000, max=17857
Sync err accum 63, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:30 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 20528, writes 0 timeouts 0
2025-04-24 11:53:30 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36402/37176
2025-04-24 11:53:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:30 [info] currentZPosition:0.160
2025-04-24 11:53:32 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:32 [debug] Diagnostics for board 50:
2025-04-24 11:53:32 [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 11:53:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:36 ago, cause: software
2025-04-24 11:53:32 [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 11:53:32 [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 11:53:32 [debug] Moves scheduled 21204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294930593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 11:53:32 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17259, writes 0 timeouts 0
2025-04-24 11:53:32 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36092/37176
2025-04-24 11:53:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:32 [info] currentZPosition:0.160
2025-04-24 11:53:33 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:33 [debug] Diagnostics for board 50:
2025-04-24 11:53:33 [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 11:53:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:38 ago, cause: software
2025-04-24 11:53:33 [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 11:53:33 [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 11:53:33 [debug] Moves scheduled 21208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 79, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:33 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16436, writes 0 timeouts 0
2025-04-24 11:53:33 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37177
2025-04-24 11:53:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:33 [info] currentZPosition:0.161
2025-04-24 11:53:34 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:34 [debug] Diagnostics for board 50:
2025-04-24 11:53:34 [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 11:53:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:39 ago, cause: software
2025-04-24 11:53:34 [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 11:53:34 [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 11:53:34 [debug] Moves scheduled 21212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 84, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:34 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 17129, writes 0 timeouts 0
2025-04-24 11:53:34 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37173
2025-04-24 11:53:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:34 [info] currentZPosition:0.161
2025-04-24 11:53:36 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:36 [debug] Diagnostics for board 50:
2025-04-24 11:53:36 [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 11:53:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:40 ago, cause: software
2025-04-24 11:53:36 [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 11:53:36 [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 11:53:36 [debug] Moves scheduled 21216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 84, peak jitter 0/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:36 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16899, writes 0 timeouts 0
2025-04-24 11:53:36 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36301/37176
2025-04-24 11:53:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:36 [info] currentZPosition:0.160
2025-04-24 11:53:37 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:37 [debug] Diagnostics for board 50:
2025-04-24 11:53:37 [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 11:53:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:42 ago, cause: software
2025-04-24 11:53:37 [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 11:53:37 [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 11:53:37 [debug] Moves scheduled 21220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6097, max=17441
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:37 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16993, writes 0 timeouts 0
2025-04-24 11:53:37 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37173
2025-04-24 11:53:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:37 [info] currentZPosition:0.160
2025-04-24 11:53:38 [debug] Stopped at height 0.162 mm
2025-04-24 11:53:38 [debug] Diagnostics for board 50:
2025-04-24 11:53:38 [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 11:53:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:43 ago, cause: software
2025-04-24 11:53:38 [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 11:53:38 [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 11:53:38 [debug] Moves scheduled 21224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:38 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min 0, mspos 888, reads 16307, writes 0 timeouts 0
2025-04-24 11:53:38 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36398/37175
2025-04-24 11:53:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:38 [info] currentZPosition:0.162
2025-04-24 11:53:40 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:40 [debug] Diagnostics for board 50:
2025-04-24 11:53:40 [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 11:53:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:44 ago, cause: software
2025-04-24 11:53:40 [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 11:53:40 [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 11:53:40 [debug] Moves scheduled 21228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:40 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17737, writes 0 timeouts 0
2025-04-24 11:53:40 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37175
2025-04-24 11:53:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:40 [info] currentZPosition:0.160
2025-04-24 11:53:40 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:41 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:41 [debug] Diagnostics for board 50:
2025-04-24 11:53:41 [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 11:53:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:46 ago, cause: software
2025-04-24 11:53:41 [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 11:53:41 [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 11:53:41 [debug] Moves scheduled 21234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7009, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:53:41 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 20216, writes 0 timeouts 0
2025-04-24 11:53:41 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36394/37178
2025-04-24 11:53:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:41 [info] currentZPosition:0.161
2025-04-24 11:53:42 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:43 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:43 [debug] Diagnostics for board 50:
2025-04-24 11:53:43 [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 11:53:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:48 ago, cause: software
2025-04-24 11:53:43 [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 11:53:43 [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 11:53:43 [debug] Moves scheduled 21240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17857
Sync err accum 65, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:43 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 21110, writes 0 timeouts 0
2025-04-24 11:53:43 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37175
2025-04-24 11:53:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:43 [info] currentZPosition:0.161
2025-04-24 11:53:44 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:44 [debug] Diagnostics for board 50:
2025-04-24 11:53:44 [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 11:53:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:49 ago, cause: software
2025-04-24 11:53:44 [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 11:53:44 [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 11:53:44 [debug] Moves scheduled 21244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17857
Sync err accum 78, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:44 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17223, writes 0 timeouts 0
2025-04-24 11:53:44 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37174
2025-04-24 11:53:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:44 [info] currentZPosition:0.159
2025-04-24 11:53:45 [debug] Stopped at height 0.157 mm
2025-04-24 11:53:46 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:46 [debug] Diagnostics for board 50:
2025-04-24 11:53:46 [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 11:53:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:51 ago, cause: software
2025-04-24 11:53:46 [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 11:53:46 [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 11:53:46 [debug] Moves scheduled 21250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6818, max=17045
Sync err accum 93, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:53:46 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20667, writes 0 timeouts 0
2025-04-24 11:53:46 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37175
2025-04-24 11:53:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:46 [info] currentZPosition:0.161
2025-04-24 11:53:46 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:48 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:48 [debug] Diagnostics for board 50:
2025-04-24 11:53:48 [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 11:53:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:52 ago, cause: software
2025-04-24 11:53:48 [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 11:53:48 [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 11:53:48 [debug] Moves scheduled 21256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294933890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:48 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20769, writes 0 timeouts 0
2025-04-24 11:53:48 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36396/37173
2025-04-24 11:53:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:48 [info] currentZPosition:0.160
2025-04-24 11:53:49 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:49 [debug] Diagnostics for board 50:
2025-04-24 11:53:49 [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 11:53:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:54 ago, cause: software
2025-04-24 11:53:49 [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 11:53:49 [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 11:53:49 [debug] Moves scheduled 21260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6302, max=18292
Sync err accum 109, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:49 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16809, writes 0 timeouts 0
2025-04-24 11:53:49 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36093/37174
2025-04-24 11:53:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:49 [info] currentZPosition:0.161
2025-04-24 11:53:50 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:50 [debug] Diagnostics for board 50:
2025-04-24 11:53:50 [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 11:53:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:55 ago, cause: software
2025-04-24 11:53:50 [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 11:53:50 [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 11:53:50 [debug] Moves scheduled 21264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 114, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:50 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16725, writes 0 timeouts 0
2025-04-24 11:53:50 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36393/37175
2025-04-24 11:53:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:50 [info] currentZPosition:0.161
2025-04-24 11:53:52 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:52 [debug] Diagnostics for board 50:
2025-04-24 11:53:52 [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 11:53:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:57 ago, cause: software
2025-04-24 11:53:52 [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 11:53:52 [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 11:53:52 [debug] Moves scheduled 21268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 115, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:53:52 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17280, writes 0 timeouts 0
2025-04-24 11:53:52 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37175
2025-04-24 11:53:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:52 [info] currentZPosition:0.160
2025-04-24 11:53:53 [debug] Stopped at height 0.161 mm
2025-04-24 11:53:53 [debug] Diagnostics for board 50:
2025-04-24 11:53:53 [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 11:53:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:58 ago, cause: software
2025-04-24 11:53:53 [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 11:53:53 [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 11:53:53 [debug] Moves scheduled 21272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7009, max=17857
Sync err accum 115, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:53:53 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16454, writes 0 timeouts 0
2025-04-24 11:53:53 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37172
2025-04-24 11:53:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:53 [info] currentZPosition:0.161
2025-04-24 11:53:54 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:54 [debug] Diagnostics for board 50:
2025-04-24 11:53:54 [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 11:53:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:55:59 ago, cause: software
2025-04-24 11:53:54 [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 11:53:54 [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 11:53:54 [debug] Moves scheduled 21276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:53:54 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17434, writes 0 timeouts 0
2025-04-24 11:53:54 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37172
2025-04-24 11:53:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:54 [info] currentZPosition:0.160
2025-04-24 11:53:56 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:56 [debug] Diagnostics for board 50:
2025-04-24 11:53:56 [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 11:53:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:01 ago, cause: software
2025-04-24 11:53:56 [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 11:53:56 [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 11:53:56 [debug] Moves scheduled 21280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17441
Sync err accum 109, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:56 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16705, writes 0 timeouts 0
2025-04-24 11:53:56 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36283/37173
2025-04-24 11:53:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:56 [info] currentZPosition:0.160
2025-04-24 11:53:57 [debug] Stopped at height 0.160 mm
2025-04-24 11:53:57 [debug] Diagnostics for board 50:
2025-04-24 11:53:57 [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 11:53:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:02 ago, cause: software
2025-04-24 11:53:57 [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 11:53:57 [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 11:53:57 [debug] Moves scheduled 21284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6880, max=17857
Sync err accum 100, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:53:57 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17006, writes 0 timeouts 0
2025-04-24 11:53:57 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37177
2025-04-24 11:53:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:57 [info] currentZPosition:0.160
2025-04-24 11:53:58 [debug] Stopped at height 0.159 mm
2025-04-24 11:53:58 [debug] Diagnostics for board 50:
2025-04-24 11:53:58 [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 11:53:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:03 ago, cause: software
2025-04-24 11:53:58 [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 11:53:58 [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 11:53:58 [debug] Moves scheduled 21288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 90, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:53:58 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16926, writes 0 timeouts 0
2025-04-24 11:53:58 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37179
2025-04-24 11:53:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:53:59 [info] currentZPosition:0.159
2025-04-24 11:54:00 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:00 [debug] Diagnostics for board 50:
2025-04-24 11:54:00 [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 11:54:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:05 ago, cause: software
2025-04-24 11:54:00 [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 11:54:00 [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 11:54:00 [debug] Moves scheduled 21292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:00 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16614, writes 0 timeouts 0
2025-04-24 11:54:00 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37178
2025-04-24 11:54:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:00 [info] currentZPosition:0.161
2025-04-24 11:54:00 [debug] Stopped at height 0.164 mm
2025-04-24 11:54:01 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:02 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:02 [debug] Diagnostics for board 50:
2025-04-24 11:54:02 [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 11:54:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:07 ago, cause: software
2025-04-24 11:54:02 [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 11:54:02 [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 11:54:02 [debug] Moves scheduled 21300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 59, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:02 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 24545, writes 0 timeouts 0
2025-04-24 11:54:02 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36162/37180
2025-04-24 11:54:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:02 [info] currentZPosition:0.161
2025-04-24 11:54:02 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:03 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:03 [debug] Diagnostics for board 50:
2025-04-24 11:54:03 [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 11:54:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:08 ago, cause: software
2025-04-24 11:54:03 [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 11:54:03 [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 11:54:03 [debug] Moves scheduled 21306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 75, peak jitter 0/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:03 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 21351, writes 0 timeouts 0
2025-04-24 11:54:03 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37176
2025-04-24 11:54:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:04 [info] currentZPosition:0.161
2025-04-24 11:54:05 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:05 [debug] Diagnostics for board 50:
2025-04-24 11:54:05 [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 11:54:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:10 ago, cause: software
2025-04-24 11:54:05 [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 11:54:05 [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 11:54:05 [debug] Moves scheduled 21310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 85, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:05 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16411, writes 0 timeouts 0
2025-04-24 11:54:05 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36149/37174
2025-04-24 11:54:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:05 [info] currentZPosition:0.161
2025-04-24 11:54:06 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:06 [debug] Diagnostics for board 50:
2025-04-24 11:54:06 [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 11:54:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:11 ago, cause: software
2025-04-24 11:54:06 [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 11:54:06 [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 11:54:06 [debug] Moves scheduled 21314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 93, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:06 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17362, writes 0 timeouts 0
2025-04-24 11:54:06 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37175
2025-04-24 11:54:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:06 [info] currentZPosition:0.161
2025-04-24 11:54:07 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:07 [debug] Diagnostics for board 50:
2025-04-24 11:54:07 [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 11:54:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:12 ago, cause: software
2025-04-24 11:54:07 [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 11:54:07 [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 11:54:07 [debug] Moves scheduled 21318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5905, max=17857
Sync err accum 97, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:07 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16623, writes 0 timeouts 0
2025-04-24 11:54:07 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37174
2025-04-24 11:54:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:08 [info] currentZPosition:0.161
2025-04-24 11:54:09 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:09 [debug] Diagnostics for board 50:
2025-04-24 11:54:09 [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 11:54:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:14 ago, cause: software
2025-04-24 11:54:09 [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 11:54:09 [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 11:54:09 [debug] Moves scheduled 21322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5813, max=17857
Sync err accum 99, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:09 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16838, writes 0 timeouts 0
2025-04-24 11:54:09 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37174
2025-04-24 11:54:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:09 [info] currentZPosition:0.162
2025-04-24 11:54:10 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:10 [debug] Diagnostics for board 50:
2025-04-24 11:54:10 [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 11:54:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:56:15 ago, cause: software
2025-04-24 11:54:10 [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 11:54:10 [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 11:54:10 [debug] Moves scheduled 21326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 101, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:10 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16945, writes 0 timeouts 0
2025-04-24 11:54:10 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37175
2025-04-24 11:54:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:10 [info] currentZPosition:0.161
2025-04-24 11:54:12 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:12 [debug] Diagnostics for board 50:
2025-04-24 11:54:12 [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 11:54:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:16 ago, cause: software
2025-04-24 11:54:12 [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 11:54:12 [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 11:54:12 [debug] Moves scheduled 21330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 98, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:12 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16941, writes 0 timeouts 0
2025-04-24 11:54:12 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37170
2025-04-24 11:54:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:12 [info] currentZPosition:0.161
2025-04-24 11:54:13 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:13 [debug] Diagnostics for board 50:
2025-04-24 11:54:13 [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 11:54:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:18 ago, cause: software
2025-04-24 11:54:13 [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 11:54:13 [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 11:54:13 [debug] Moves scheduled 21334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 93, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:13 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16710, writes 0 timeouts 0
2025-04-24 11:54:13 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36168/37177
2025-04-24 11:54:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:13 [info] currentZPosition:0.161
2025-04-24 11:54:14 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:14 [debug] Diagnostics for board 50:
2025-04-24 11:54:14 [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 11:54:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:19 ago, cause: software
2025-04-24 11:54:14 [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 11:54:14 [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 11:54:14 [debug] Moves scheduled 21338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5952, max=17045
Sync err accum 87, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:14 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17176, writes 0 timeouts 0
2025-04-24 11:54:14 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 11:54:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:14 [info] currentZPosition:0.161
2025-04-24 11:54:16 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:16 [debug] Diagnostics for board 50:
2025-04-24 11:54:16 [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 11:54:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:20 ago, cause: software
2025-04-24 11:54:16 [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 11:54:16 [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 11:54:16 [debug] Moves scheduled 21342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 79, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:16 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16449, writes 0 timeouts 0
2025-04-24 11:54:16 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36167/37177
2025-04-24 11:54:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:16 [info] currentZPosition:0.161
2025-04-24 11:54:17 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:17 [debug] Diagnostics for board 50:
2025-04-24 11:54:17 [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 11:54:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:22 ago, cause: software
2025-04-24 11:54:17 [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 11:54:17 [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 11:54:17 [debug] Moves scheduled 21346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=61, frequency (Hz): min=6302, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:17 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17277, writes 0 timeouts 0
2025-04-24 11:54:17 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37176
2025-04-24 11:54:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:17 [info] currentZPosition:0.161
2025-04-24 11:54:18 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:18 [debug] Diagnostics for board 50:
2025-04-24 11:54:18 [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 11:54:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:23 ago, cause: software
2025-04-24 11:54:18 [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 11:54:18 [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 11:54:18 [debug] Moves scheduled 21350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 64, peak jitter -3/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:18 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16758, writes 0 timeouts 0
2025-04-24 11:54:18 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37178
2025-04-24 11:54:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:18 [info] currentZPosition:0.161
2025-04-24 11:54:20 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:20 [debug] Diagnostics for board 50:
2025-04-24 11:54:20 [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 11:54:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:24 ago, cause: software
2025-04-24 11:54:20 [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 11:54:20 [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 11:54:20 [debug] Moves scheduled 21354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 75, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:20 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16838, writes 0 timeouts 0
2025-04-24 11:54:20 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37174
2025-04-24 11:54:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:20 [info] currentZPosition:0.162
2025-04-24 11:54:21 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:21 [debug] Diagnostics for board 50:
2025-04-24 11:54:21 [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 11:54:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:26 ago, cause: software
2025-04-24 11:54:21 [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 11:54:21 [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 11:54:21 [debug] Moves scheduled 21358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6880, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:21 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17023, writes 0 timeouts 0
2025-04-24 11:54:21 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36158/37175
2025-04-24 11:54:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:21 [info] currentZPosition:0.161
2025-04-24 11:54:21 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:23 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:23 [debug] Diagnostics for board 50:
2025-04-24 11:54:23 [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 11:54:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:28 ago, cause: software
2025-04-24 11:54:23 [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 11:54:23 [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 11:54:23 [debug] Moves scheduled 21364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=17045
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 4294931985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:23 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 20716, writes 0 timeouts 0
2025-04-24 11:54:23 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 11:54:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:23 [info] currentZPosition:0.162
2025-04-24 11:54:23 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:24 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:24 [debug] Diagnostics for board 50:
2025-04-24 11:54:24 [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 11:54:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:29 ago, cause: software
2025-04-24 11:54:24 [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 11:54:24 [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 11:54:24 [debug] Moves scheduled 21370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 92, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:24 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20877, writes 0 timeouts 0
2025-04-24 11:54:24 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36164/37177
2025-04-24 11:54:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:24 [info] currentZPosition:0.160
2025-04-24 11:54:26 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:26 [debug] Diagnostics for board 50:
2025-04-24 11:54:26 [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 11:54:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:31 ago, cause: software
2025-04-24 11:54:26 [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 11:54:26 [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 11:54:26 [debug] Moves scheduled 21374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 89, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:26 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17111, writes 0 timeouts 0
2025-04-24 11:54:26 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37176
2025-04-24 11:54:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:26 [info] currentZPosition:0.161
2025-04-24 11:54:27 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:27 [debug] Diagnostics for board 50:
2025-04-24 11:54:27 [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 11:54:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:32 ago, cause: software
2025-04-24 11:54:27 [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 11:54:27 [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 11:54:27 [debug] Moves scheduled 21378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 86, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294927959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:27 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16572, writes 0 timeouts 0
2025-04-24 11:54:27 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36163/37176
2025-04-24 11:54:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:27 [info] currentZPosition:0.161
2025-04-24 11:54:28 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:28 [debug] Diagnostics for board 50:
2025-04-24 11:54:28 [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 11:54:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:33 ago, cause: software
2025-04-24 11:54:28 [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 11:54:28 [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 11:54:28 [debug] Moves scheduled 21382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 79, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:28 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17648, writes 0 timeouts 0
2025-04-24 11:54:28 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36106/37177
2025-04-24 11:54:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:29 [info] currentZPosition:0.160
2025-04-24 11:54:29 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:30 [debug] Stopped at height 0.163 mm
2025-04-24 11:54:30 [debug] Diagnostics for board 50:
2025-04-24 11:54:30 [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 11:54:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:35 ago, cause: software
2025-04-24 11:54:30 [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 11:54:30 [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 11:54:30 [debug] Moves scheduled 21388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17441
Sync err accum 65, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:30 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 19563, writes 0 timeouts 0
2025-04-24 11:54:30 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36158/37177
2025-04-24 11:54:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:30 [info] currentZPosition:0.163
2025-04-24 11:54:31 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:31 [debug] Diagnostics for board 50:
2025-04-24 11:54:31 [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 11:54:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:36 ago, cause: software
2025-04-24 11:54:31 [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 11:54:31 [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 11:54:31 [debug] Moves scheduled 21392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 65, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:31 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17594, writes 0 timeouts 0
2025-04-24 11:54:31 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37174
2025-04-24 11:54:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:31 [info] currentZPosition:0.161
2025-04-24 11:54:32 [debug] Stopped at height 0.159 mm
2025-04-24 11:54:32 [debug] Stopped at height 0.158 mm
2025-04-24 11:54:33 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:33 [debug] Diagnostics for board 50:
2025-04-24 11:54:33 [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 11:54:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:38 ago, cause: software
2025-04-24 11:54:33 [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 11:54:33 [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 11:54:33 [debug] Moves scheduled 21400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6637, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:33 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 24406, writes 0 timeouts 0
2025-04-24 11:54:33 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 290, adv 36162/37176
2025-04-24 11:54:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:33 [info] currentZPosition:0.162
2025-04-24 11:54:34 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:35 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:35 [debug] Diagnostics for board 50:
2025-04-24 11:54:35 [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 11:54:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:40 ago, cause: software
2025-04-24 11:54:35 [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 11:54:35 [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 11:54:35 [debug] Moves scheduled 21406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 70, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:35 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 21400, writes 0 timeouts 0
2025-04-24 11:54:35 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37178
2025-04-24 11:54:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:35 [info] currentZPosition:0.161
2025-04-24 11:54:36 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:36 [debug] Diagnostics for board 50:
2025-04-24 11:54:36 [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 11:54:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:41 ago, cause: software
2025-04-24 11:54:36 [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 11:54:36 [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 11:54:36 [debug] Moves scheduled 21410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 70, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:54:36 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16976, writes 0 timeouts 0
2025-04-24 11:54:36 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37177
2025-04-24 11:54:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:37 [info] currentZPosition:0.160
2025-04-24 11:54:38 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:38 [debug] Diagnostics for board 50:
2025-04-24 11:54:38 [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 11:54:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:43 ago, cause: software
2025-04-24 11:54:38 [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 11:54:38 [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 11:54:38 [debug] Moves scheduled 21414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 66, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:38 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16690, writes 0 timeouts 0
2025-04-24 11:54:38 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36109/37176
2025-04-24 11:54:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:38 [info] currentZPosition:0.162
2025-04-24 11:54:38 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:39 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:39 [debug] Diagnostics for board 50:
2025-04-24 11:54:39 [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 11:54:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:44 ago, cause: software
2025-04-24 11:54:39 [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 11:54:39 [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 11:54:39 [debug] Moves scheduled 21420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17857
Sync err accum 67, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:39 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20706, writes 0 timeouts 0
2025-04-24 11:54:39 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36165/37177
2025-04-24 11:54:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:40 [info] currentZPosition:0.161
2025-04-24 11:54:41 [debug] Stopped at height 0.163 mm
2025-04-24 11:54:41 [debug] Diagnostics for board 50:
2025-04-24 11:54:41 [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 11:54:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:56:46 ago, cause: software
2025-04-24 11:54:41 [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 11:54:41 [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 11:54:41 [debug] Moves scheduled 21424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17441
Sync err accum 70, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:41 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16817, writes 0 timeouts 0
2025-04-24 11:54:41 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37174
2025-04-24 11:54:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:41 [info] currentZPosition:0.163
2025-04-24 11:54:42 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:42 [debug] Diagnostics for board 50:
2025-04-24 11:54:42 [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 11:54:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:47 ago, cause: software
2025-04-24 11:54:42 [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 11:54:42 [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 11:54:42 [debug] Moves scheduled 21428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:42 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16593, writes 0 timeouts 0
2025-04-24 11:54:42 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37175
2025-04-24 11:54:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:42 [info] currentZPosition:0.162
2025-04-24 11:54:44 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:44 [debug] Diagnostics for board 50:
2025-04-24 11:54:44 [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 11:54:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:48 ago, cause: software
2025-04-24 11:54:44 [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 11:54:44 [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 11:54:44 [debug] Moves scheduled 21432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 70, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:44 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17727, writes 0 timeouts 0
2025-04-24 11:54:44 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37174
2025-04-24 11:54:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:44 [info] currentZPosition:0.161
2025-04-24 11:54:44 [debug] Stopped at height 0.160 mm
2025-04-24 11:54:45 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:45 [debug] Diagnostics for board 50:
2025-04-24 11:54:45 [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 11:54:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:50 ago, cause: software
2025-04-24 11:54:45 [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 11:54:45 [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 11:54:45 [debug] Moves scheduled 21438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 63, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:45 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 20601, writes 0 timeouts 0
2025-04-24 11:54:45 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36162/37174
2025-04-24 11:54:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:45 [info] currentZPosition:0.161
2025-04-24 11:54:47 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:47 [debug] Diagnostics for board 50:
2025-04-24 11:54:47 [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 11:54:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:51 ago, cause: software
2025-04-24 11:54:47 [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 11:54:47 [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 11:54:47 [debug] Moves scheduled 21442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6521, max=17045
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932906 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:47 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16802, writes 0 timeouts 0
2025-04-24 11:54:47 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36109/37174
2025-04-24 11:54:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:47 [info] currentZPosition:0.162
2025-04-24 11:54:48 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:48 [debug] Diagnostics for board 50:
2025-04-24 11:54:48 [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 11:54:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:53 ago, cause: software
2025-04-24 11:54:48 [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 11:54:48 [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 11:54:48 [debug] Moves scheduled 21446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=749, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294929334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:48 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16987, writes 11 timeouts 1
2025-04-24 11:54:48 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36152/37170
2025-04-24 11:54:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:48 [info] currentZPosition:0.161
2025-04-24 11:54:49 [debug] Stopped at height 0.163 mm
2025-04-24 11:54:49 [debug] Diagnostics for board 50:
2025-04-24 11:54:49 [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 11:54:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:54 ago, cause: software
2025-04-24 11:54:49 [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 11:54:49 [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 11:54:49 [debug] Moves scheduled 21450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:49 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16600, writes 0 timeouts 0
2025-04-24 11:54:49 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37175
2025-04-24 11:54:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:49 [info] currentZPosition:0.163
2025-04-24 11:54:50 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:51 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:51 [debug] Diagnostics for board 50:
2025-04-24 11:54:51 [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 11:54:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:56 ago, cause: software
2025-04-24 11:54:51 [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 11:54:51 [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 11:54:51 [debug] Moves scheduled 21456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=5681, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933906 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:51 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21072, writes 0 timeouts 0
2025-04-24 11:54:51 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37176
2025-04-24 11:54:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:51 [info] currentZPosition:0.161
2025-04-24 11:54:52 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:52 [debug] Diagnostics for board 50:
2025-04-24 11:54:52 [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 11:54:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:57 ago, cause: software
2025-04-24 11:54:52 [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 11:54:52 [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 11:54:52 [debug] Moves scheduled 21460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:52 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16992, writes 0 timeouts 0
2025-04-24 11:54:52 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37177
2025-04-24 11:54:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:52 [info] currentZPosition:0.161
2025-04-24 11:54:54 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:54 [debug] Diagnostics for board 50:
2025-04-24 11:54:54 [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 11:54:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:56:58 ago, cause: software
2025-04-24 11:54:54 [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 11:54:54 [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 11:54:54 [debug] Moves scheduled 21464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 71, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:54 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16528, writes 0 timeouts 0
2025-04-24 11:54:54 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37173
2025-04-24 11:54:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:54 [info] currentZPosition:0.162
2025-04-24 11:54:55 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:55 [debug] Diagnostics for board 50:
2025-04-24 11:54:55 [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 11:54:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:00 ago, cause: software
2025-04-24 11:54:55 [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 11:54:55 [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 11:54:55 [debug] Moves scheduled 21468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6465, max=17045
Sync err accum 81, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:55 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16954, writes 0 timeouts 0
2025-04-24 11:54:55 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37172
2025-04-24 11:54:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:55 [info] currentZPosition:0.162
2025-04-24 11:54:56 [debug] Stopped at height 0.163 mm
2025-04-24 11:54:56 [debug] Diagnostics for board 50:
2025-04-24 11:54:56 [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 11:54:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:01 ago, cause: software
2025-04-24 11:54:56 [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 11:54:56 [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 11:54:56 [debug] Moves scheduled 21472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17045
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:54:56 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16553, writes 0 timeouts 0
2025-04-24 11:54:56 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37175
2025-04-24 11:54:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:56 [info] currentZPosition:0.163
2025-04-24 11:54:58 [debug] Stopped at height 0.162 mm
2025-04-24 11:54:58 [debug] Diagnostics for board 50:
2025-04-24 11:54:58 [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 11:54:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:02 ago, cause: software
2025-04-24 11:54:58 [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 11:54:58 [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 11:54:58 [debug] Moves scheduled 21476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:58 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17325, writes 0 timeouts 0
2025-04-24 11:54:58 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36104/37173
2025-04-24 11:54:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:58 [info] currentZPosition:0.162
2025-04-24 11:54:59 [debug] Stopped at height 0.161 mm
2025-04-24 11:54:59 [debug] Diagnostics for board 50:
2025-04-24 11:54:59 [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 11:54:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:04 ago, cause: software
2025-04-24 11:54:59 [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 11:54:59 [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 11:54:59 [debug] Moves scheduled 21480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:54:59 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17060, writes 0 timeouts 0
2025-04-24 11:54:59 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37175
2025-04-24 11:54:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:54:59 [info] currentZPosition:0.161
2025-04-24 11:54:59 [debug] Stopped at height 0.160 mm
2025-04-24 11:55:01 [debug] Stopped at height 0.160 mm
2025-04-24 11:55:01 [debug] Diagnostics for board 50:
2025-04-24 11:55:01 [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 11:55:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:06 ago, cause: software
2025-04-24 11:55:01 [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 11:55:01 [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 11:55:01 [debug] Moves scheduled 21486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933954 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:01 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 21248, writes 0 timeouts 0
2025-04-24 11:55:01 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37176
2025-04-24 11:55:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:01 [info] currentZPosition:0.160
2025-04-24 11:55:02 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:02 [debug] Diagnostics for board 50:
2025-04-24 11:55:02 [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 11:55:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:07 ago, cause: software
2025-04-24 11:55:02 [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 11:55:02 [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 11:55:02 [debug] Moves scheduled 21490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 96, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:02 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16042, writes 0 timeouts 0
2025-04-24 11:55:02 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37175
2025-04-24 11:55:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:02 [info] currentZPosition:0.162
2025-04-24 11:55:02 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:04 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:04 [debug] Diagnostics for board 50:
2025-04-24 11:55:04 [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 11:55:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:09 ago, cause: software
2025-04-24 11:55:04 [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 11:55:04 [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 11:55:04 [debug] Moves scheduled 21496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 90, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:04 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 21112, writes 0 timeouts 0
2025-04-24 11:55:04 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37178
2025-04-24 11:55:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:04 [info] currentZPosition:0.162
2025-04-24 11:55:05 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:05 [debug] Diagnostics for board 50:
2025-04-24 11:55:05 [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 11:55:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:10 ago, cause: software
2025-04-24 11:55:05 [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 11:55:05 [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 11:55:05 [debug] Moves scheduled 21500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 82, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:05 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16645, writes 0 timeouts 0
2025-04-24 11:55:05 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36397/37174
2025-04-24 11:55:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:05 [info] currentZPosition:0.162
2025-04-24 11:55:06 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:06 [debug] Diagnostics for board 50:
2025-04-24 11:55:06 [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 11:55:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:11 ago, cause: software
2025-04-24 11:55:06 [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 11:55:06 [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 11:55:06 [debug] Moves scheduled 21504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:06 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16998, writes 0 timeouts 0
2025-04-24 11:55:06 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37176
2025-04-24 11:55:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:06 [info] currentZPosition:0.162
2025-04-24 11:55:08 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:08 [debug] Diagnostics for board 50:
2025-04-24 11:55:08 [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 11:55:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:13 ago, cause: software
2025-04-24 11:55:08 [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 11:55:08 [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 11:55:08 [debug] Moves scheduled 21508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17857
Sync err accum 62, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:08 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16540, writes 0 timeouts 0
2025-04-24 11:55:08 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37177
2025-04-24 11:55:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:08 [info] currentZPosition:0.163
2025-04-24 11:55:09 [debug] Stopped at height 0.161 mm
2025-04-24 11:55:09 [debug] Diagnostics for board 50:
2025-04-24 11:55:09 [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 11:55:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:14 ago, cause: software
2025-04-24 11:55:09 [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 11:55:09 [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 11:55:09 [debug] Moves scheduled 21512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:09 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17673, writes 0 timeouts 0
2025-04-24 11:55:09 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36107/37175
2025-04-24 11:55:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:09 [info] currentZPosition:0.161
2025-04-24 11:55:10 [debug] Stopped at height 0.160 mm
2025-04-24 11:55:11 [debug] Stopped at height 0.164 mm
2025-04-24 11:55:11 [debug] Diagnostics for board 50:
2025-04-24 11:55:11 [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 11:55:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:16 ago, cause: software
2025-04-24 11:55:11 [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 11:55:11 [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 11:55:11 [debug] Moves scheduled 21518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6880, max=18292
Sync err accum 84, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:11 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min 0, mspos 936, reads 19942, writes 0 timeouts 0
2025-04-24 11:55:11 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36397/37176
2025-04-24 11:55:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:11 [info] currentZPosition:0.164
2025-04-24 11:55:11 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:12 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:12 [debug] Diagnostics for board 50:
2025-04-24 11:55:12 [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 11:55:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:17 ago, cause: software
2025-04-24 11:55:12 [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 11:55:12 [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 11:55:12 [debug] Moves scheduled 21524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 90, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:12 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 21428, writes 0 timeouts 0
2025-04-24 11:55:12 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36091/37174
2025-04-24 11:55:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:13 [info] currentZPosition:0.163
2025-04-24 11:55:14 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:14 [debug] Diagnostics for board 50:
2025-04-24 11:55:14 [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 11:55:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:19 ago, cause: software
2025-04-24 11:55:14 [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 11:55:14 [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 11:55:14 [debug] Moves scheduled 21528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:14 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16559, writes 0 timeouts 0
2025-04-24 11:55:14 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37172
2025-04-24 11:55:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:14 [info] currentZPosition:0.163
2025-04-24 11:55:15 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:15 [debug] Diagnostics for board 50:
2025-04-24 11:55:15 [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 11:55:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:20 ago, cause: software
2025-04-24 11:55:15 [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 11:55:15 [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 11:55:15 [debug] Moves scheduled 21532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:15 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17435, writes 0 timeouts 0
2025-04-24 11:55:15 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37175
2025-04-24 11:55:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:15 [info] currentZPosition:0.162
2025-04-24 11:55:17 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:17 [debug] Diagnostics for board 50:
2025-04-24 11:55:17 [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 11:55:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:21 ago, cause: software
2025-04-24 11:55:17 [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 11:55:17 [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 11:55:17 [debug] Moves scheduled 21536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:17 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16759, writes 0 timeouts 0
2025-04-24 11:55:17 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37176
2025-04-24 11:55:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:17 [info] currentZPosition:0.162
2025-04-24 11:55:18 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:18 [debug] Diagnostics for board 50:
2025-04-24 11:55:18 [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 11:55:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:57:23 ago, cause: software
2025-04-24 11:55:18 [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 11:55:18 [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 11:55:18 [debug] Moves scheduled 21540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6355, max=17045
Sync err accum 84, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:18 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16738, writes 0 timeouts 0
2025-04-24 11:55:18 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37174
2025-04-24 11:55:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:18 [info] currentZPosition:0.163
2025-04-24 11:55:18 [debug] Stopped at height 0.161 mm
2025-04-24 11:55:20 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:20 [debug] Diagnostics for board 50:
2025-04-24 11:55:20 [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 11:55:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:24 ago, cause: software
2025-04-24 11:55:20 [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 11:55:20 [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 11:55:20 [debug] Moves scheduled 21546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=7075, max=18292
Sync err accum 74, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:55:20 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20799, writes 0 timeouts 0
2025-04-24 11:55:20 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37176
2025-04-24 11:55:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:20 [info] currentZPosition:0.162
2025-04-24 11:55:21 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:21 [debug] Diagnostics for board 50:
2025-04-24 11:55:21 [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 11:55:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:26 ago, cause: software
2025-04-24 11:55:21 [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 11:55:21 [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 11:55:21 [debug] Moves scheduled 21550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 62, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:55:21 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16912, writes 0 timeouts 0
2025-04-24 11:55:21 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37178
2025-04-24 11:55:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:21 [info] currentZPosition:0.163
2025-04-24 11:55:22 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:22 [debug] Diagnostics for board 50:
2025-04-24 11:55:22 [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 11:55:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:27 ago, cause: software
2025-04-24 11:55:22 [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 11:55:22 [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 11:55:22 [debug] Moves scheduled 21554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=17857
Sync err accum 67, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294930715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:22 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16685, writes 0 timeouts 0
2025-04-24 11:55:22 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36399/37177
2025-04-24 11:55:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:22 [info] currentZPosition:0.163
2025-04-24 11:55:24 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:24 [debug] Diagnostics for board 50:
2025-04-24 11:55:24 [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 11:55:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:28 ago, cause: software
2025-04-24 11:55:24 [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 11:55:24 [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 11:55:24 [debug] Moves scheduled 21558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
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 4294932857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:24 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17358, writes 0 timeouts 0
2025-04-24 11:55:24 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37174
2025-04-24 11:55:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:24 [info] currentZPosition:0.162
2025-04-24 11:55:25 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:25 [debug] Diagnostics for board 50:
2025-04-24 11:55:25 [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 11:55:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:30 ago, cause: software
2025-04-24 11:55:25 [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 11:55:25 [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 11:55:25 [debug] Moves scheduled 21562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6048, max=17045
Sync err accum 84, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:25 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16332, writes 0 timeouts 0
2025-04-24 11:55:25 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37174
2025-04-24 11:55:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:25 [info] currentZPosition:0.163
2025-04-24 11:55:26 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:26 [debug] Diagnostics for board 50:
2025-04-24 11:55:26 [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 11:55:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:31 ago, cause: software
2025-04-24 11:55:26 [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 11:55:26 [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 11:55:26 [debug] Moves scheduled 21566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:26 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17438, writes 0 timeouts 0
2025-04-24 11:55:26 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36110/37174
2025-04-24 11:55:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:26 [info] currentZPosition:0.162
2025-04-24 11:55:28 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:28 [debug] Diagnostics for board 50:
2025-04-24 11:55:28 [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 11:55:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:32 ago, cause: software
2025-04-24 11:55:28 [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 11:55:28 [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 11:55:28 [debug] Moves scheduled 21570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:28 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16490, writes 0 timeouts 0
2025-04-24 11:55:28 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36395/37177
2025-04-24 11:55:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:28 [info] currentZPosition:0.163
2025-04-24 11:55:29 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:29 [debug] Diagnostics for board 50:
2025-04-24 11:55:29 [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 11:55:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:34 ago, cause: software
2025-04-24 11:55:29 [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 11:55:29 [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 11:55:29 [debug] Moves scheduled 21574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=18292
Sync err accum 91, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:29 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17360, writes 0 timeouts 0
2025-04-24 11:55:29 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36110/37178
2025-04-24 11:55:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:29 [info] currentZPosition:0.162
2025-04-24 11:55:30 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:30 [debug] Diagnostics for board 50:
2025-04-24 11:55:30 [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 11:55:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:35 ago, cause: software
2025-04-24 11:55:30 [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 11:55:30 [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 11:55:30 [debug] Moves scheduled 21578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:30 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16430, writes 0 timeouts 0
2025-04-24 11:55:30 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37178
2025-04-24 11:55:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:30 [info] currentZPosition:0.163
2025-04-24 11:55:32 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:32 [debug] Diagnostics for board 50:
2025-04-24 11:55:32 [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 11:55:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:37 ago, cause: software
2025-04-24 11:55:32 [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 11:55:32 [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 11:55:32 [debug] Moves scheduled 21582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5952, max=17857
Sync err accum 81, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:32 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17300, writes 0 timeouts 0
2025-04-24 11:55:32 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37172
2025-04-24 11:55:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:32 [info] currentZPosition:0.162
2025-04-24 11:55:33 [debug] Stopped at height 0.161 mm
2025-04-24 11:55:33 [debug] Diagnostics for board 50:
2025-04-24 11:55:33 [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 11:55:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:38 ago, cause: software
2025-04-24 11:55:33 [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 11:55:33 [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 11:55:33 [debug] Moves scheduled 21586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17857
Sync err accum 72, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:33 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17159, writes 0 timeouts 0
2025-04-24 11:55:33 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37177
2025-04-24 11:55:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:33 [info] currentZPosition:0.161
2025-04-24 11:55:33 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:35 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:35 [debug] Diagnostics for board 50:
2025-04-24 11:55:35 [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 11:55:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:40 ago, cause: software
2025-04-24 11:55:35 [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 11:55:35 [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 11:55:35 [debug] Moves scheduled 21592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:35 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20825, writes 0 timeouts 0
2025-04-24 11:55:35 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36107/37176
2025-04-24 11:55:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:35 [info] currentZPosition:0.162
2025-04-24 11:55:36 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:36 [debug] Diagnostics for board 50:
2025-04-24 11:55:36 [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 11:55:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:41 ago, cause: software
2025-04-24 11:55:36 [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 11:55:36 [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 11:55:36 [debug] Moves scheduled 21596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6355, max=17045
Sync err accum 67, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:36 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16051, writes 0 timeouts 0
2025-04-24 11:55:36 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36399/37170
2025-04-24 11:55:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:36 [info] currentZPosition:0.163
2025-04-24 11:55:36 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:38 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:38 [debug] Diagnostics for board 50:
2025-04-24 11:55:38 [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 11:55:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:43 ago, cause: software
2025-04-24 11:55:38 [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 11:55:38 [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 11:55:38 [debug] Moves scheduled 21602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:38 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21541, writes 0 timeouts 0
2025-04-24 11:55:38 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36102/37176
2025-04-24 11:55:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:38 [info] currentZPosition:0.162
2025-04-24 11:55:39 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:39 [debug] Diagnostics for board 50:
2025-04-24 11:55:39 [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 11:55:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:44 ago, cause: software
2025-04-24 11:55:39 [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 11:55:39 [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 11:55:39 [debug] Moves scheduled 21606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=23437
Sync err accum 74, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:39 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16148, writes 0 timeouts 0
2025-04-24 11:55:39 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37176
2025-04-24 11:55:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:39 [info] currentZPosition:0.163
2025-04-24 11:55:39 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:41 [debug] Stopped at height 0.164 mm
2025-04-24 11:55:41 [debug] Diagnostics for board 50:
2025-04-24 11:55:41 [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 11:55:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:46 ago, cause: software
2025-04-24 11:55:41 [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 11:55:41 [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 11:55:41 [debug] Moves scheduled 21612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:41 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20968, writes 0 timeouts 0
2025-04-24 11:55:41 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36100/37178
2025-04-24 11:55:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:41 [info] currentZPosition:0.164
2025-04-24 11:55:41 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:42 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:42 [debug] Diagnostics for board 50:
2025-04-24 11:55:42 [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 11:55:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:47 ago, cause: software
2025-04-24 11:55:42 [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 11:55:42 [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 11:55:42 [debug] Moves scheduled 21618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=779, max=18292
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 4294933615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:42 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20613, writes 11 timeouts 1
2025-04-24 11:55:42 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37178
2025-04-24 11:55:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:42 [info] currentZPosition:0.163
2025-04-24 11:55:44 [debug] Stopped at height 0.164 mm
2025-04-24 11:55:44 [debug] Diagnostics for board 50:
2025-04-24 11:55:44 [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 11:55:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:49 ago, cause: software
2025-04-24 11:55:44 [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 11:55:44 [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 11:55:44 [debug] Moves scheduled 21622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:44 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16968, writes 0 timeouts 0
2025-04-24 11:55:44 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37178
2025-04-24 11:55:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:44 [info] currentZPosition:0.164
2025-04-24 11:55:45 [debug] Stopped at height 0.161 mm
2025-04-24 11:55:45 [debug] Diagnostics for board 50:
2025-04-24 11:55:45 [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 11:55:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:50 ago, cause: software
2025-04-24 11:55:45 [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 11:55:45 [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 11:55:45 [debug] Moves scheduled 21626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 73, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:45 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17438, writes 0 timeouts 0
2025-04-24 11:55:45 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36283/37174
2025-04-24 11:55:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9182, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:45 [info] currentZPosition:0.161
2025-04-24 11:55:45 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-24 11:55:47 [debug] Stopped at height 0.164 mm
2025-04-24 11:55:47 [debug] Diagnostics for board 50:
2025-04-24 11:55:47 [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 11:55:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:52 ago, cause: software
2025-04-24 11:55:47 [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 11:55:47 [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 11:55:47 [debug] Moves scheduled 21631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6000, max=17857
Sync err accum 83, peak jitter 0/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:47 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 19497, writes 0 timeouts 0
2025-04-24 11:55:47 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36096/37176
2025-04-24 11:55:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:47 [info] currentZPosition:0.164
2025-04-24 11:55:48 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:48 [debug] Diagnostics for board 50:
2025-04-24 11:55:48 [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 11:55:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:53 ago, cause: software
2025-04-24 11:55:48 [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 11:55:48 [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 11:55:48 [debug] Moves scheduled 21635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=18292
Sync err accum 87, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:48 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16796, writes 0 timeouts 0
2025-04-24 11:55:48 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36164/37172
2025-04-24 11:55:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:48 [info] currentZPosition:0.163
2025-04-24 11:55:49 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:49 [debug] Diagnostics for board 50:
2025-04-24 11:55:49 [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 11:55:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:54 ago, cause: software
2025-04-24 11:55:49 [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 11:55:49 [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 11:55:49 [debug] Moves scheduled 21639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=756, max=17045
Sync err accum 89, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:55:49 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17507, writes 11 timeouts 1
2025-04-24 11:55:49 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36095/37177
2025-04-24 11:55:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:50 [info] currentZPosition:0.162
2025-04-24 11:55:51 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:51 [debug] Diagnostics for board 50:
2025-04-24 11:55:51 [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 11:55:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:56 ago, cause: software
2025-04-24 11:55:51 [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 11:55:51 [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 11:55:51 [debug] Moves scheduled 21643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17045
Sync err accum 89, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:51 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16396, writes 0 timeouts 0
2025-04-24 11:55:51 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37176
2025-04-24 11:55:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:51 [info] currentZPosition:0.163
2025-04-24 11:55:52 [debug] Stopped at height 0.164 mm
2025-04-24 11:55:52 [debug] Diagnostics for board 50:
2025-04-24 11:55:52 [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 11:55:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:57 ago, cause: software
2025-04-24 11:55:52 [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 11:55:52 [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 11:55:52 [debug] Moves scheduled 21647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17857
Sync err accum 87, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:52 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16953, writes 0 timeouts 0
2025-04-24 11:55:52 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 11:55:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:52 [info] currentZPosition:0.164
2025-04-24 11:55:53 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:53 [debug] Diagnostics for board 50:
2025-04-24 11:55:53 [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 11:55:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:57:58 ago, cause: software
2025-04-24 11:55:53 [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 11:55:53 [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 11:55:53 [debug] Moves scheduled 21651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6521, max=18292
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:55:53 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16643, writes 0 timeouts 0
2025-04-24 11:55:53 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37178
2025-04-24 11:55:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:54 [info] currentZPosition:0.163
2025-04-24 11:55:55 [debug] Stopped at height 0.164 mm
2025-04-24 11:55:55 [debug] Diagnostics for board 50:
2025-04-24 11:55:55 [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 11:55:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:00 ago, cause: software
2025-04-24 11:55:55 [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 11:55:55 [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 11:55:55 [debug] Moves scheduled 21655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=900, max=17045
Sync err accum 74, peak jitter -1/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:55:55 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16965, writes 11 timeouts 1
2025-04-24 11:55:55 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36094/37178
2025-04-24 11:55:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:55 [info] currentZPosition:0.164
2025-04-24 11:55:56 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:56 [debug] Diagnostics for board 50:
2025-04-24 11:55:56 [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 11:55:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:01 ago, cause: software
2025-04-24 11:55:56 [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 11:55:56 [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 11:55:56 [debug] Moves scheduled 21659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:55:56 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17364, writes 0 timeouts 0
2025-04-24 11:55:56 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37176
2025-04-24 11:55:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:56 [info] currentZPosition:0.162
2025-04-24 11:55:57 [debug] Stopped at height 0.161 mm
2025-04-24 11:55:58 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:58 [debug] Diagnostics for board 50:
2025-04-24 11:55:58 [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 11:55:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:03 ago, cause: software
2025-04-24 11:55:58 [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 11:55:58 [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 11:55:58 [debug] Moves scheduled 21665, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6696, max=17857
Sync err accum 73, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:55:58 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 20713, writes 0 timeouts 0
2025-04-24 11:55:58 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36100/37170
2025-04-24 11:55:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:55:58 [info] currentZPosition:0.163
2025-04-24 11:55:58 [debug] Stopped at height 0.162 mm
2025-04-24 11:55:59 [debug] Stopped at height 0.163 mm
2025-04-24 11:55:59 [debug] Diagnostics for board 50:
2025-04-24 11:55:59 [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 11:55:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:04 ago, cause: software
2025-04-24 11:55:59 [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 11:55:59 [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 11:55:59 [debug] Moves scheduled 21671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6696, max=17045
Sync err accum 92, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:55:59 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20467, writes 0 timeouts 0
2025-04-24 11:55:59 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37174
2025-04-24 11:55:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:00 [info] currentZPosition:0.163
2025-04-24 11:56:00 [debug] Stopped at height 0.162 mm
2025-04-24 11:56:01 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:01 [debug] Diagnostics for board 50:
2025-04-24 11:56:01 [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 11:56:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:06 ago, cause: software
2025-04-24 11:56:01 [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 11:56:01 [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 11:56:01 [debug] Moves scheduled 21677, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=5725, max=17045
Sync err accum 105, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:01 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 21126, writes 0 timeouts 0
2025-04-24 11:56:01 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37175
2025-04-24 11:56:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:01 [info] currentZPosition:0.163
2025-04-24 11:56:02 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:03 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:03 [debug] Diagnostics for board 50:
2025-04-24 11:56:03 [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 11:56:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:08 ago, cause: software
2025-04-24 11:56:03 [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 11:56:03 [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 11:56:03 [debug] Moves scheduled 21683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 115, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:03 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 20332, writes 0 timeouts 0
2025-04-24 11:56:03 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36164/37177
2025-04-24 11:56:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:03 [info] currentZPosition:0.164
2025-04-24 11:56:04 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:04 [debug] Diagnostics for board 50:
2025-04-24 11:56:04 [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 11:56:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:09 ago, cause: software
2025-04-24 11:56:04 [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 11:56:04 [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 11:56:04 [debug] Moves scheduled 21687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 121, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:04 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17085, writes 0 timeouts 0
2025-04-24 11:56:04 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36108/37177
2025-04-24 11:56:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:04 [info] currentZPosition:0.164
2025-04-24 11:56:05 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:05 [debug] Diagnostics for board 50:
2025-04-24 11:56:05 [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 11:56:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:10 ago, cause: software
2025-04-24 11:56:05 [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 11:56:05 [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 11:56:05 [debug] Moves scheduled 21691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 125, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:05 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16599, writes 0 timeouts 0
2025-04-24 11:56:05 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37174
2025-04-24 11:56:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:06 [info] currentZPosition:0.164
2025-04-24 11:56:07 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:07 [debug] Diagnostics for board 50:
2025-04-24 11:56:07 [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 11:56:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:12 ago, cause: software
2025-04-24 11:56:07 [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 11:56:07 [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 11:56:07 [debug] Moves scheduled 21695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 126, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:07 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17281, writes 0 timeouts 0
2025-04-24 11:56:07 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37174
2025-04-24 11:56:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:07 [info] currentZPosition:0.164
2025-04-24 11:56:08 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:08 [debug] Diagnostics for board 50:
2025-04-24 11:56:08 [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 11:56:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:13 ago, cause: software
2025-04-24 11:56:08 [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 11:56:08 [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 11:56:08 [debug] Moves scheduled 21699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 124, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:08 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16317, writes 0 timeouts 0
2025-04-24 11:56:08 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37172
2025-04-24 11:56:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:08 [info] currentZPosition:0.165
2025-04-24 11:56:10 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:10 [debug] Diagnostics for board 50:
2025-04-24 11:56:10 [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 11:56:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:14 ago, cause: software
2025-04-24 11:56:10 [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 11:56:10 [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 11:56:10 [debug] Moves scheduled 21703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 121, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:10 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17711, writes 0 timeouts 0
2025-04-24 11:56:10 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37173
2025-04-24 11:56:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:10 [info] currentZPosition:0.163
2025-04-24 11:56:10 [debug] Stopped at height 0.162 mm
2025-04-24 11:56:11 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:11 [debug] Diagnostics for board 50:
2025-04-24 11:56:11 [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 11:56:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:16 ago, cause: software
2025-04-24 11:56:11 [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 11:56:11 [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 11:56:11 [debug] Moves scheduled 21709, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 113, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:11 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 20029, writes 0 timeouts 0
2025-04-24 11:56:11 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36151/37176
2025-04-24 11:56:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:11 [info] currentZPosition:0.165
2025-04-24 11:56:12 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:13 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:13 [debug] Diagnostics for board 50:
2025-04-24 11:56:13 [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 11:56:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:18 ago, cause: software
2025-04-24 11:56:13 [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 11:56:13 [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 11:56:13 [debug] Moves scheduled 21715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 99, peak jitter -3/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:13 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 21373, writes 0 timeouts 0
2025-04-24 11:56:13 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37178
2025-04-24 11:56:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:13 [info] currentZPosition:0.163
2025-04-24 11:56:14 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:14 [debug] Diagnostics for board 50:
2025-04-24 11:56:14 [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 11:56:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:19 ago, cause: software
2025-04-24 11:56:14 [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 11:56:14 [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 11:56:14 [debug] Moves scheduled 21719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 86, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:14 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16365, writes 0 timeouts 0
2025-04-24 11:56:14 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37180
2025-04-24 11:56:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:14 [info] currentZPosition:0.164
2025-04-24 11:56:16 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:16 [debug] Diagnostics for board 50:
2025-04-24 11:56:16 [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 11:56:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 01:58:20 ago, cause: software
2025-04-24 11:56:16 [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 11:56:16 [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 11:56:16 [debug] Moves scheduled 21723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 70, peak jitter -4/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:16 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17081, writes 0 timeouts 0
2025-04-24 11:56:16 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36097/37175
2025-04-24 11:56:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:16 [info] currentZPosition:0.164
2025-04-24 11:56:17 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:17 [debug] Diagnostics for board 50:
2025-04-24 11:56:17 [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 11:56:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:22 ago, cause: software
2025-04-24 11:56:17 [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 11:56:17 [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 11:56:17 [debug] Moves scheduled 21727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=9, max=92, frequency (Hz): min=6410, max=17441
Sync err accum 61, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:17 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17127, writes 0 timeouts 0
2025-04-24 11:56:17 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36164/37178
2025-04-24 11:56:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:17 [info] currentZPosition:0.163
2025-04-24 11:56:17 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:19 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:19 [debug] Diagnostics for board 50:
2025-04-24 11:56:19 [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 11:56:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:23 ago, cause: software
2025-04-24 11:56:19 [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 11:56:19 [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 11:56:19 [debug] Moves scheduled 21732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 72, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:19 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20148, writes 0 timeouts 0
2025-04-24 11:56:19 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36107/37167
2025-04-24 11:56:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:19 [info] currentZPosition:0.163
2025-04-24 11:56:19 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:20 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:20 [debug] Diagnostics for board 50:
2025-04-24 11:56:20 [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 11:56:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:25 ago, cause: software
2025-04-24 11:56:20 [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 11:56:20 [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 11:56:20 [debug] Moves scheduled 21738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:20 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 20045, writes 0 timeouts 0
2025-04-24 11:56:20 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37175
2025-04-24 11:56:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:20 [info] currentZPosition:0.165
2025-04-24 11:56:22 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:22 [debug] Diagnostics for board 50:
2025-04-24 11:56:22 [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 11:56:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:26 ago, cause: software
2025-04-24 11:56:22 [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 11:56:22 [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 11:56:22 [debug] Moves scheduled 21742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:56:22 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17290, writes 0 timeouts 0
2025-04-24 11:56:22 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36111/37175
2025-04-24 11:56:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:22 [info] currentZPosition:0.164
2025-04-24 11:56:23 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:23 [debug] Diagnostics for board 50:
2025-04-24 11:56:23 [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 11:56:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:28 ago, cause: software
2025-04-24 11:56:23 [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 11:56:23 [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 11:56:23 [debug] Moves scheduled 21746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 97, peak jitter 1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:23 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16670, writes 0 timeouts 0
2025-04-24 11:56:23 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37175
2025-04-24 11:56:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:23 [info] currentZPosition:0.164
2025-04-24 11:56:24 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:24 [debug] Diagnostics for board 50:
2025-04-24 11:56:24 [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 11:56:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:29 ago, cause: software
2025-04-24 11:56:24 [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 11:56:24 [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 11:56:24 [debug] Moves scheduled 21750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17857
Sync err accum 98, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:24 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16873, writes 0 timeouts 0
2025-04-24 11:56:24 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37177
2025-04-24 11:56:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:24 [info] currentZPosition:0.165
2025-04-24 11:56:26 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:26 [debug] Diagnostics for board 50:
2025-04-24 11:56:26 [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 11:56:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:30 ago, cause: software
2025-04-24 11:56:26 [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 11:56:26 [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 11:56:26 [debug] Moves scheduled 21754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6097, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:26 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16934, writes 0 timeouts 0
2025-04-24 11:56:26 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36150/37170
2025-04-24 11:56:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:26 [info] currentZPosition:0.164
2025-04-24 11:56:27 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:27 [debug] Diagnostics for board 50:
2025-04-24 11:56:27 [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 11:56:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:32 ago, cause: software
2025-04-24 11:56:27 [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 11:56:27 [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 11:56:27 [debug] Moves scheduled 21758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6097, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:27 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17223, writes 0 timeouts 0
2025-04-24 11:56:27 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37171
2025-04-24 11:56:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:27 [info] currentZPosition:0.164
2025-04-24 11:56:28 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:28 [debug] Diagnostics for board 50:
2025-04-24 11:56:28 [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 11:56:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:33 ago, cause: software
2025-04-24 11:56:28 [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 11:56:28 [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 11:56:28 [debug] Moves scheduled 21762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:28 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16515, writes 0 timeouts 0
2025-04-24 11:56:28 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37174
2025-04-24 11:56:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:28 [info] currentZPosition:0.164
2025-04-24 11:56:30 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:30 [debug] Diagnostics for board 50:
2025-04-24 11:56:30 [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 11:56:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:34 ago, cause: software
2025-04-24 11:56:30 [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 11:56:30 [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 11:56:30 [debug] Moves scheduled 21766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=523, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:56:30 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17050, writes 11 timeouts 1
2025-04-24 11:56:30 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 11:56:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:30 [info] currentZPosition:0.164
2025-04-24 11:56:31 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:31 [debug] Diagnostics for board 50:
2025-04-24 11:56:31 [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 11:56:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:36 ago, cause: software
2025-04-24 11:56:31 [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 11:56:31 [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 11:56:31 [debug] Moves scheduled 21770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:31 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16475, writes 0 timeouts 0
2025-04-24 11:56:31 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36168/37175
2025-04-24 11:56:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:31 [info] currentZPosition:0.164
2025-04-24 11:56:32 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:32 [debug] Diagnostics for board 50:
2025-04-24 11:56:32 [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 11:56:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:37 ago, cause: software
2025-04-24 11:56:32 [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 11:56:32 [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 11:56:32 [debug] Moves scheduled 21774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6465, max=17045
Sync err accum 66, peak jitter -3/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:32 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17372, writes 0 timeouts 0
2025-04-24 11:56:32 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37175
2025-04-24 11:56:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:32 [info] currentZPosition:0.164
2025-04-24 11:56:34 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:34 [debug] Diagnostics for board 50:
2025-04-24 11:56:34 [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 11:56:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:39 ago, cause: software
2025-04-24 11:56:34 [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 11:56:34 [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 11:56:34 [debug] Moves scheduled 21778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5859, max=17045
Sync err accum 82, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934426 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:56:34 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16823, writes 0 timeouts 0
2025-04-24 11:56:34 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36161/37172
2025-04-24 11:56:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:34 [info] currentZPosition:0.163
2025-04-24 11:56:35 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:35 [debug] Diagnostics for board 50:
2025-04-24 11:56:35 [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 11:56:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:40 ago, cause: software
2025-04-24 11:56:35 [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 11:56:35 [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 11:56:35 [debug] Moves scheduled 21782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17857
Sync err accum 93, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:56:35 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16938, writes 0 timeouts 0
2025-04-24 11:56:35 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37168
2025-04-24 11:56:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:35 [info] currentZPosition:0.164
2025-04-24 11:56:36 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:36 [debug] Diagnostics for board 50:
2025-04-24 11:56:36 [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 11:56:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:41 ago, cause: software
2025-04-24 11:56:36 [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 11:56:36 [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 11:56:36 [debug] Moves scheduled 21786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 106, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:36 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16639, writes 0 timeouts 0
2025-04-24 11:56:36 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36161/37175
2025-04-24 11:56:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:36 [info] currentZPosition:0.164
2025-04-24 11:56:38 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:38 [debug] Diagnostics for board 50:
2025-04-24 11:56:38 [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 11:56:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:43 ago, cause: software
2025-04-24 11:56:38 [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 11:56:38 [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 11:56:38 [debug] Moves scheduled 21790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=18292
Sync err accum 113, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:38 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17234, writes 0 timeouts 0
2025-04-24 11:56:38 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37174
2025-04-24 11:56:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:38 [info] currentZPosition:0.164
2025-04-24 11:56:39 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:39 [debug] Diagnostics for board 50:
2025-04-24 11:56:39 [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 11:56:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:44 ago, cause: software
2025-04-24 11:56:39 [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 11:56:39 [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 11:56:39 [debug] Moves scheduled 21794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=626, max=17045
Sync err accum 119, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:39 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16273, writes 11 timeouts 1
2025-04-24 11:56:39 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36282/37173
2025-04-24 11:56:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:39 [info] currentZPosition:0.165
2025-04-24 11:56:40 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:40 [debug] Diagnostics for board 50:
2025-04-24 11:56:40 [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 11:56:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:45 ago, cause: software
2025-04-24 11:56:40 [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 11:56:40 [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 11:56:40 [debug] Moves scheduled 21798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 124, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:40 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17202, writes 0 timeouts 0
2025-04-24 11:56:40 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37173
2025-04-24 11:56:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:41 [info] currentZPosition:0.164
2025-04-24 11:56:42 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:42 [debug] Diagnostics for board 50:
2025-04-24 11:56:42 [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 11:56:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:47 ago, cause: software
2025-04-24 11:56:42 [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 11:56:42 [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 11:56:42 [debug] Moves scheduled 21802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 127, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:42 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16566, writes 0 timeouts 0
2025-04-24 11:56:42 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37176
2025-04-24 11:56:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:42 [info] currentZPosition:0.165
2025-04-24 11:56:43 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:43 [debug] Diagnostics for board 50:
2025-04-24 11:56:43 [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 11:56:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:48 ago, cause: software
2025-04-24 11:56:43 [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 11:56:43 [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 11:56:43 [debug] Moves scheduled 21806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 125, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:56:43 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17352, writes 0 timeouts 0
2025-04-24 11:56:43 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37177
2025-04-24 11:56:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:43 [info] currentZPosition:0.164
2025-04-24 11:56:45 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:45 [debug] Diagnostics for board 50:
2025-04-24 11:56:45 [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 11:56:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:49 ago, cause: software
2025-04-24 11:56:45 [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 11:56:45 [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 11:56:45 [debug] Moves scheduled 21810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6944, max=17441
Sync err accum 121, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:45 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16311, writes 0 timeouts 0
2025-04-24 11:56:45 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36396/37175
2025-04-24 11:56:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:45 [info] currentZPosition:0.165
2025-04-24 11:56:46 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:46 [debug] Diagnostics for board 50:
2025-04-24 11:56:46 [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 11:56:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:51 ago, cause: software
2025-04-24 11:56:46 [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 11:56:46 [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 11:56:46 [debug] Moves scheduled 21814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 114, peak jitter -1/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:56:46 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17643, writes 0 timeouts 0
2025-04-24 11:56:46 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37176
2025-04-24 11:56:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:46 [info] currentZPosition:0.163
2025-04-24 11:56:46 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:48 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:48 [debug] Diagnostics for board 50:
2025-04-24 11:56:48 [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 11:56:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:52 ago, cause: software
2025-04-24 11:56:48 [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 11:56:48 [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 11:56:48 [debug] Moves scheduled 21820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 104, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:56:48 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20477, writes 0 timeouts 0
2025-04-24 11:56:48 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36402/37178
2025-04-24 11:56:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:48 [info] currentZPosition:0.164
2025-04-24 11:56:49 [debug] Stopped at height 0.163 mm
2025-04-24 11:56:49 [debug] Diagnostics for board 50:
2025-04-24 11:56:49 [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 11:56:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:54 ago, cause: software
2025-04-24 11:56:49 [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 11:56:49 [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 11:56:49 [debug] Moves scheduled 21824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 93, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:49 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17447, writes 0 timeouts 0
2025-04-24 11:56:49 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37177
2025-04-24 11:56:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:49 [info] currentZPosition:0.163
2025-04-24 11:56:50 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:50 [debug] Diagnostics for board 50:
2025-04-24 11:56:50 [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 11:56:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:55 ago, cause: software
2025-04-24 11:56:50 [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 11:56:50 [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 11:56:50 [debug] Moves scheduled 21828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 79, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:56:50 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16252, writes 0 timeouts 0
2025-04-24 11:56:50 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37176
2025-04-24 11:56:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:50 [info] currentZPosition:0.164
2025-04-24 11:56:52 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:52 [debug] Diagnostics for board 50:
2025-04-24 11:56:52 [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 11:56:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:56 ago, cause: software
2025-04-24 11:56:52 [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 11:56:52 [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 11:56:52 [debug] Moves scheduled 21832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=487, max=17045
Sync err accum 63, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:52 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17120, writes 11 timeouts 1
2025-04-24 11:56:52 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36113/37171
2025-04-24 11:56:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:52 [info] currentZPosition:0.164
2025-04-24 11:56:53 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:53 [debug] Diagnostics for board 50:
2025-04-24 11:56:53 [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 11:56:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:58 ago, cause: software
2025-04-24 11:56:53 [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 11:56:53 [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 11:56:53 [debug] Moves scheduled 21836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 66, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:53 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16531, writes 0 timeouts 0
2025-04-24 11:56:53 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36397/37176
2025-04-24 11:56:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:53 [info] currentZPosition:0.164
2025-04-24 11:56:54 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:54 [debug] Diagnostics for board 50:
2025-04-24 11:56:54 [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 11:56:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:58:59 ago, cause: software
2025-04-24 11:56:54 [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 11:56:54 [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 11:56:54 [debug] Moves scheduled 21840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
Sync err accum 84, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:56:54 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17495, writes 0 timeouts 0
2025-04-24 11:56:54 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37172
2025-04-24 11:56:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:54 [info] currentZPosition:0.164
2025-04-24 11:56:56 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:56 [debug] Diagnostics for board 50:
2025-04-24 11:56:56 [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 11:56:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:00 ago, cause: software
2025-04-24 11:56:56 [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 11:56:56 [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 11:56:56 [debug] Moves scheduled 21844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 101, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:56:56 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 16085, writes 0 timeouts 0
2025-04-24 11:56:56 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37170
2025-04-24 11:56:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 815
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:56 [info] currentZPosition:0.165
2025-04-24 11:56:56 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:57 [debug] Stopped at height 0.165 mm
2025-04-24 11:56:57 [debug] Diagnostics for board 50:
2025-04-24 11:56:57 [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 11:56:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:02 ago, cause: software
2025-04-24 11:56:57 [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 11:56:57 [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 11:56:57 [debug] Moves scheduled 21850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 115, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:57 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 21331, writes 0 timeouts 0
2025-04-24 11:56:57 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36107/37175
2025-04-24 11:56:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:57 [info] currentZPosition:0.165
2025-04-24 11:56:59 [debug] Stopped at height 0.164 mm
2025-04-24 11:56:59 [debug] Diagnostics for board 50:
2025-04-24 11:56:59 [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 11:56:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:03 ago, cause: software
2025-04-24 11:56:59 [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 11:56:59 [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 11:56:59 [debug] Moves scheduled 21854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 126, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:56:59 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16635, writes 0 timeouts 0
2025-04-24 11:56:59 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37174
2025-04-24 11:56:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:56:59 [info] currentZPosition:0.164
2025-04-24 11:57:00 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:00 [debug] Diagnostics for board 50:
2025-04-24 11:57:00 [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 11:57:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:05 ago, cause: software
2025-04-24 11:57:00 [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 11:57:00 [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 11:57:00 [debug] Moves scheduled 21858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 125, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:00 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16960, writes 0 timeouts 0
2025-04-24 11:57:00 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37169
2025-04-24 11:57:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:00 [info] currentZPosition:0.165
2025-04-24 11:57:01 [debug] Stopped at height 0.162 mm
2025-04-24 11:57:01 [debug] Diagnostics for board 50:
2025-04-24 11:57:01 [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 11:57:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:06 ago, cause: software
2025-04-24 11:57:01 [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 11:57:01 [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 11:57:01 [debug] Moves scheduled 21862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6198, max=17045
Sync err accum 117, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:57:01 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17385, writes 0 timeouts 0
2025-04-24 11:57:01 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37174
2025-04-24 11:57:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9179, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:01 [info] currentZPosition:0.162
2025-04-24 11:57:02 [debug] Stopped at height 0.162 mm
2025-04-24 11:57:03 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:03 [debug] Diagnostics for board 50:
2025-04-24 11:57:03 [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 11:57:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:08 ago, cause: software
2025-04-24 11:57:03 [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 11:57:03 [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 11:57:03 [debug] Moves scheduled 21868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 104, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:03 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 20850, writes 0 timeouts 0
2025-04-24 11:57:03 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37177
2025-04-24 11:57:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:03 [info] currentZPosition:0.164
2025-04-24 11:57:03 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:04 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:04 [debug] Stopped at height 0.163 mm
2025-04-24 11:57:05 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:05 [debug] Diagnostics for board 50:
2025-04-24 11:57:05 [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 11:57:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:10 ago, cause: software
2025-04-24 11:57:05 [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 11:57:05 [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 11:57:05 [debug] Moves scheduled 21878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6521, max=17045
Sync err accum 81, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:05 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 28356, writes 0 timeouts 0
2025-04-24 11:57:05 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 291, adv 36382/37178
2025-04-24 11:57:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:05 [info] currentZPosition:0.165
2025-04-24 11:57:06 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:07 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:07 [debug] Diagnostics for board 50:
2025-04-24 11:57:07 [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 11:57:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:12 ago, cause: software
2025-04-24 11:57:07 [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 11:57:07 [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 11:57:07 [debug] Moves scheduled 21884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6696, max=17045
Sync err accum 61, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:07 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 21229, writes 0 timeouts 0
2025-04-24 11:57:07 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37179
2025-04-24 11:57:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:07 [info] currentZPosition:0.164
2025-04-24 11:57:08 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:08 [debug] Diagnostics for board 50:
2025-04-24 11:57:08 [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 11:57:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:13 ago, cause: software
2025-04-24 11:57:08 [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 11:57:08 [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 11:57:08 [debug] Moves scheduled 21888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 65, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:08 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16811, writes 0 timeouts 0
2025-04-24 11:57:08 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36394/37176
2025-04-24 11:57:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:08 [info] currentZPosition:0.164
2025-04-24 11:57:10 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:10 [debug] Diagnostics for board 50:
2025-04-24 11:57:10 [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 11:57:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:15 ago, cause: software
2025-04-24 11:57:10 [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 11:57:10 [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 11:57:10 [debug] Moves scheduled 21892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 80, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:57:10 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17014, writes 0 timeouts 0
2025-04-24 11:57:10 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37171
2025-04-24 11:57:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:10 [info] currentZPosition:0.164
2025-04-24 11:57:11 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:11 [debug] Diagnostics for board 50:
2025-04-24 11:57:11 [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 11:57:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:16 ago, cause: software
2025-04-24 11:57:11 [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 11:57:11 [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 11:57:11 [debug] Moves scheduled 21896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 94, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:57:11 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16699, writes 0 timeouts 0
2025-04-24 11:57:11 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36377/37170
2025-04-24 11:57:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:11 [info] currentZPosition:0.164
2025-04-24 11:57:12 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:12 [debug] Diagnostics for board 50:
2025-04-24 11:57:12 [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 11:57:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:17 ago, cause: software
2025-04-24 11:57:12 [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 11:57:12 [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 11:57:12 [debug] Moves scheduled 21900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 109, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:12 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16656, writes 0 timeouts 0
2025-04-24 11:57:12 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36094/37174
2025-04-24 11:57:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:12 [info] currentZPosition:0.166
2025-04-24 11:57:13 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:14 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:14 [debug] Diagnostics for board 50:
2025-04-24 11:57:14 [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 11:57:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:19 ago, cause: software
2025-04-24 11:57:14 [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 11:57:14 [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 11:57:14 [debug] Moves scheduled 21906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 121, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:14 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21066, writes 0 timeouts 0
2025-04-24 11:57:14 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36398/37173
2025-04-24 11:57:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:14 [info] currentZPosition:0.164
2025-04-24 11:57:15 [debug] Stopped at height 0.162 mm
2025-04-24 11:57:16 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:16 [debug] Diagnostics for board 50:
2025-04-24 11:57:16 [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 11:57:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:21 ago, cause: software
2025-04-24 11:57:16 [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 11:57:16 [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 11:57:16 [debug] Moves scheduled 21912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 128, peak jitter -1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:16 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20825, writes 0 timeouts 0
2025-04-24 11:57:16 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:57:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:16 [info] currentZPosition:0.166
2025-04-24 11:57:16 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:17 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:17 [debug] Diagnostics for board 50:
2025-04-24 11:57:17 [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 11:57:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:22 ago, cause: software
2025-04-24 11:57:17 [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 11:57:17 [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 11:57:17 [debug] Moves scheduled 21918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17441
Sync err accum 111, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:57:17 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20487, writes 0 timeouts 0
2025-04-24 11:57:17 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36384/37175
2025-04-24 11:57:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:17 [info] currentZPosition:0.166
2025-04-24 11:57:19 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:19 [debug] Diagnostics for board 50:
2025-04-24 11:57:19 [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 11:57:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:24 ago, cause: software
2025-04-24 11:57:19 [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 11:57:19 [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 11:57:19 [debug] Moves scheduled 21922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 90, peak jitter -3/-3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:19 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17603, writes 0 timeouts 0
2025-04-24 11:57:19 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37178
2025-04-24 11:57:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:19 [info] currentZPosition:0.164
2025-04-24 11:57:19 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:20 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:20 [debug] Diagnostics for board 50:
2025-04-24 11:57:20 [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 11:57:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:25 ago, cause: software
2025-04-24 11:57:20 [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 11:57:20 [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 11:57:20 [debug] Moves scheduled 21928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6250, max=17045
Sync err accum 70, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:20 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20606, writes 0 timeouts 0
2025-04-24 11:57:20 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37180
2025-04-24 11:57:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:21 [info] currentZPosition:0.164
2025-04-24 11:57:22 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:22 [debug] Diagnostics for board 50:
2025-04-24 11:57:22 [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 11:57:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:27 ago, cause: software
2025-04-24 11:57:22 [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 11:57:22 [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 11:57:22 [debug] Moves scheduled 21932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 65, peak jitter -4/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:22 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17020, writes 0 timeouts 0
2025-04-24 11:57:22 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37174
2025-04-24 11:57:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:22 [info] currentZPosition:0.165
2025-04-24 11:57:23 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:23 [debug] Diagnostics for board 50:
2025-04-24 11:57:23 [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 11:57:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:28 ago, cause: software
2025-04-24 11:57:23 [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 11:57:23 [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 11:57:23 [debug] Moves scheduled 21936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:57:23 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16365, writes 0 timeouts 0
2025-04-24 11:57:23 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36399/37172
2025-04-24 11:57:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:23 [info] currentZPosition:0.166
2025-04-24 11:57:25 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:25 [debug] Diagnostics for board 50:
2025-04-24 11:57:25 [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 11:57:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:29 ago, cause: software
2025-04-24 11:57:25 [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 11:57:25 [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 11:57:25 [debug] Moves scheduled 21940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:25 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17489, writes 0 timeouts 0
2025-04-24 11:57:25 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37173
2025-04-24 11:57:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:25 [info] currentZPosition:0.165
2025-04-24 11:57:26 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:26 [debug] Diagnostics for board 50:
2025-04-24 11:57:26 [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 11:57:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:31 ago, cause: software
2025-04-24 11:57:26 [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 11:57:26 [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 11:57:26 [debug] Moves scheduled 21944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 97, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:57:26 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16733, writes 0 timeouts 0
2025-04-24 11:57:26 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37171
2025-04-24 11:57:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:26 [info] currentZPosition:0.165
2025-04-24 11:57:27 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:27 [debug] Diagnostics for board 50:
2025-04-24 11:57:27 [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 11:57:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:32 ago, cause: software
2025-04-24 11:57:27 [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 11:57:27 [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 11:57:27 [debug] Moves scheduled 21948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 106, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:27 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16769, writes 0 timeouts 0
2025-04-24 11:57:27 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37173
2025-04-24 11:57:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:27 [info] currentZPosition:0.166
2025-04-24 11:57:29 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:29 [debug] Diagnostics for board 50:
2025-04-24 11:57:29 [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 11:57:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:33 ago, cause: software
2025-04-24 11:57:29 [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 11:57:29 [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 11:57:29 [debug] Moves scheduled 21952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 110, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:29 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16952, writes 0 timeouts 0
2025-04-24 11:57:29 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37175
2025-04-24 11:57:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:29 [info] currentZPosition:0.165
2025-04-24 11:57:30 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:30 [debug] Diagnostics for board 50:
2025-04-24 11:57:30 [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 11:57:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:35 ago, cause: software
2025-04-24 11:57:30 [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 11:57:30 [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 11:57:30 [debug] Moves scheduled 21956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 111, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:30 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17007, writes 0 timeouts 0
2025-04-24 11:57:30 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37174
2025-04-24 11:57:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:30 [info] currentZPosition:0.165
2025-04-24 11:57:31 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:31 [debug] Diagnostics for board 50:
2025-04-24 11:57:31 [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 11:57:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:36 ago, cause: software
2025-04-24 11:57:31 [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 11:57:31 [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 11:57:31 [debug] Moves scheduled 21960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 111, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:31 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16576, writes 0 timeouts 0
2025-04-24 11:57:31 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36397/37173
2025-04-24 11:57:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:31 [info] currentZPosition:0.165
2025-04-24 11:57:33 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:33 [debug] Diagnostics for board 50:
2025-04-24 11:57:33 [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 11:57:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:37 ago, cause: software
2025-04-24 11:57:33 [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 11:57:33 [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 11:57:33 [debug] Moves scheduled 21964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 109, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:33 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17277, writes 0 timeouts 0
2025-04-24 11:57:33 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37176
2025-04-24 11:57:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:33 [info] currentZPosition:0.165
2025-04-24 11:57:34 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:34 [debug] Diagnostics for board 50:
2025-04-24 11:57:34 [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 11:57:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:39 ago, cause: software
2025-04-24 11:57:34 [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 11:57:34 [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 11:57:34 [debug] Moves scheduled 21968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6756, max=17857
Sync err accum 104, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:34 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16512, writes 0 timeouts 0
2025-04-24 11:57:34 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36286/37173
2025-04-24 11:57:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:34 [info] currentZPosition:0.165
2025-04-24 11:57:35 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:35 [debug] Diagnostics for board 50:
2025-04-24 11:57:35 [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 11:57:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:40 ago, cause: software
2025-04-24 11:57:35 [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 11:57:35 [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 11:57:35 [debug] Moves scheduled 21972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 94, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:35 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17253, writes 0 timeouts 0
2025-04-24 11:57:35 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37174
2025-04-24 11:57:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:35 [info] currentZPosition:0.165
2025-04-24 11:57:37 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:37 [debug] Diagnostics for board 50:
2025-04-24 11:57:37 [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 11:57:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:41 ago, cause: software
2025-04-24 11:57:37 [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 11:57:37 [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 11:57:37 [debug] Moves scheduled 21976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
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 4294932141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:37 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16360, writes 0 timeouts 0
2025-04-24 11:57:37 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37173
2025-04-24 11:57:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:37 [info] currentZPosition:0.166
2025-04-24 11:57:38 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:38 [debug] Diagnostics for board 50:
2025-04-24 11:57:38 [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 11:57:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:43 ago, cause: software
2025-04-24 11:57:38 [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 11:57:38 [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 11:57:38 [debug] Moves scheduled 21980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 71, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294933841 ticks, disabled
VIN 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 11:57:38 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17431, writes 0 timeouts 0
2025-04-24 11:57:38 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36112/37178
2025-04-24 11:57:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:38 [info] currentZPosition:0.165
2025-04-24 11:57:39 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:39 [debug] Diagnostics for board 50:
2025-04-24 11:57:39 [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 11:57:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:44 ago, cause: software
2025-04-24 11:57:39 [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 11:57:39 [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 11:57:39 [debug] Moves scheduled 21984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 59, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:39 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16546, writes 0 timeouts 0
2025-04-24 11:57:39 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36169/37175
2025-04-24 11:57:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:39 [info] currentZPosition:0.165
2025-04-24 11:57:41 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:41 [debug] Diagnostics for board 50:
2025-04-24 11:57:41 [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 11:57:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:46 ago, cause: software
2025-04-24 11:57:41 [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 11:57:41 [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 11:57:41 [debug] Moves scheduled 21988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 72, peak jitter 0/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:41 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17078, writes 0 timeouts 0
2025-04-24 11:57:41 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37175
2025-04-24 11:57:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:41 [info] currentZPosition:0.165
2025-04-24 11:57:42 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:42 [debug] Diagnostics for board 50:
2025-04-24 11:57:42 [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 11:57:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:47 ago, cause: software
2025-04-24 11:57:42 [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 11:57:42 [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 11:57:42 [debug] Moves scheduled 21992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=82, frequency (Hz): min=666, max=17441
Sync err accum 87, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 11:57:42 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16404, writes 11 timeouts 1
2025-04-24 11:57:42 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36161/37174
2025-04-24 11:57:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:42 [info] currentZPosition:0.166
2025-04-24 11:57:43 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:43 [debug] Diagnostics for board 50:
2025-04-24 11:57:43 [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 11:57:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:48 ago, cause: software
2025-04-24 11:57:43 [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 11:57:43 [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 11:57:43 [debug] Moves scheduled 21996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 96, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:57:43 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17347, writes 0 timeouts 0
2025-04-24 11:57:43 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37173
2025-04-24 11:57:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:44 [info] currentZPosition:0.165
2025-04-24 11:57:45 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:45 [debug] Diagnostics for board 50:
2025-04-24 11:57:45 [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 11:57:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:50 ago, cause: software
2025-04-24 11:57:45 [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 11:57:45 [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 11:57:45 [debug] Moves scheduled 22000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 106, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:45 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16552, writes 0 timeouts 0
2025-04-24 11:57:45 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37174
2025-04-24 11:57:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:45 [info] currentZPosition:0.166
2025-04-24 11:57:46 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:46 [debug] Diagnostics for board 50:
2025-04-24 11:57:46 [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 11:57:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:51 ago, cause: software
2025-04-24 11:57:46 [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 11:57:46 [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 11:57:46 [debug] Moves scheduled 22004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 112, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:46 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17631, writes 0 timeouts 0
2025-04-24 11:57:46 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36100/37172
2025-04-24 11:57:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:46 [info] currentZPosition:0.164
2025-04-24 11:57:47 [debug] Stopped at height 0.163 mm
2025-04-24 11:57:48 [debug] Stopped at height 0.167 mm
2025-04-24 11:57:48 [debug] Diagnostics for board 50:
2025-04-24 11:57:48 [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 11:57:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:53 ago, cause: software
2025-04-24 11:57:48 [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 11:57:48 [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 11:57:48 [debug] Moves scheduled 22010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 114, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:48 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 19927, writes 0 timeouts 0
2025-04-24 11:57:48 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37173
2025-04-24 11:57:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:48 [info] currentZPosition:0.167
2025-04-24 11:57:48 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:50 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:50 [debug] Diagnostics for board 50:
2025-04-24 11:57:50 [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 11:57:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:54 ago, cause: software
2025-04-24 11:57:50 [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 11:57:50 [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 11:57:50 [debug] Moves scheduled 22016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17857
Sync err accum 116, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:50 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 21528, writes 0 timeouts 0
2025-04-24 11:57:50 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 11:57:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:50 [info] currentZPosition:0.165
2025-04-24 11:57:51 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:51 [debug] Diagnostics for board 50:
2025-04-24 11:57:51 [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 11:57:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:56 ago, cause: software
2025-04-24 11:57:51 [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 11:57:51 [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 11:57:51 [debug] Moves scheduled 22020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 114, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:51 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17000, writes 0 timeouts 0
2025-04-24 11:57:51 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36162/37175
2025-04-24 11:57:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:51 [info] currentZPosition:0.164
2025-04-24 11:57:51 [debug] Stopped at height 0.164 mm
2025-04-24 11:57:53 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:53 [debug] Diagnostics for board 50:
2025-04-24 11:57:53 [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 11:57:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:57 ago, cause: software
2025-04-24 11:57:53 [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 11:57:53 [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 11:57:53 [debug] Moves scheduled 22026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6465, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:57:53 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20859, writes 0 timeouts 0
2025-04-24 11:57:53 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37177
2025-04-24 11:57:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:53 [info] currentZPosition:0.165
2025-04-24 11:57:54 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:54 [debug] Diagnostics for board 50:
2025-04-24 11:57:54 [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 11:57:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 01:59:59 ago, cause: software
2025-04-24 11:57:54 [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 11:57:54 [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 11:57:54 [debug] Moves scheduled 22030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6818, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:57:54 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16391, writes 0 timeouts 0
2025-04-24 11:57:54 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36167/37176
2025-04-24 11:57:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:54 [info] currentZPosition:0.166
2025-04-24 11:57:55 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:55 [debug] Diagnostics for board 50:
2025-04-24 11:57:55 [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 11:57:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:00 ago, cause: software
2025-04-24 11:57:55 [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 11:57:55 [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 11:57:55 [debug] Moves scheduled 22034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 91, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:55 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17290, writes 0 timeouts 0
2025-04-24 11:57:55 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36112/37177
2025-04-24 11:57:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:55 [info] currentZPosition:0.165
2025-04-24 11:57:57 [debug] Stopped at height 0.166 mm
2025-04-24 11:57:57 [debug] Diagnostics for board 50:
2025-04-24 11:57:57 [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 11:57:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:01 ago, cause: software
2025-04-24 11:57:57 [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 11:57:57 [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 11:57:57 [debug] Moves scheduled 22038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17441
Sync err accum 78, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:57:57 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 16153, writes 0 timeouts 0
2025-04-24 11:57:57 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37177
2025-04-24 11:57:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:57 [info] currentZPosition:0.166
2025-04-24 11:57:57 [debug] Stopped at height 0.168 mm
2025-04-24 11:57:57 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:59 [debug] Stopped at height 0.165 mm
2025-04-24 11:57:59 [debug] Diagnostics for board 50:
2025-04-24 11:57:59 [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 11:57:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:03 ago, cause: software
2025-04-24 11:57:59 [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 11:57:59 [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 11:57:59 [debug] Moves scheduled 22046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 60, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:57:59 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 25759, writes 0 timeouts 0
2025-04-24 11:57:59 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 293, adv 36100/37179
2025-04-24 11:57:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:57:59 [info] currentZPosition:0.165
2025-04-24 11:58:00 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:00 [debug] Diagnostics for board 50:
2025-04-24 11:58:00 [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 11:58:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:05 ago, cause: software
2025-04-24 11:58:00 [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 11:58:00 [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 11:58:00 [debug] Moves scheduled 22050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 73, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:00 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16134, writes 0 timeouts 0
2025-04-24 11:58:00 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37172
2025-04-24 11:58:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:00 [info] currentZPosition:0.166
2025-04-24 11:58:00 [debug] Stopped at height 0.165 mm
2025-04-24 11:58:02 [debug] Stopped at height 0.165 mm
2025-04-24 11:58:02 [debug] Diagnostics for board 50:
2025-04-24 11:58:02 [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 11:58:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:06 ago, cause: software
2025-04-24 11:58:02 [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 11:58:02 [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 11:58:02 [debug] Moves scheduled 22056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17857
Sync err accum 89, peak jitter 2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:02 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 21297, writes 0 timeouts 0
2025-04-24 11:58:02 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:58:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:02 [info] currentZPosition:0.165
2025-04-24 11:58:03 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:03 [debug] Diagnostics for board 50:
2025-04-24 11:58:03 [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 11:58:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:08 ago, cause: software
2025-04-24 11:58:03 [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 11:58:03 [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 11:58:03 [debug] Moves scheduled 22060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17441
Sync err accum 97, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:03 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16211, writes 0 timeouts 0
2025-04-24 11:58:03 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37172
2025-04-24 11:58:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:03 [info] currentZPosition:0.166
2025-04-24 11:58:04 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:04 [debug] Diagnostics for board 50:
2025-04-24 11:58:04 [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 11:58:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:00:09 ago, cause: software
2025-04-24 11:58:04 [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 11:58:04 [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 11:58:04 [debug] Moves scheduled 22064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 105, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:04 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 17156, writes 0 timeouts 0
2025-04-24 11:58:04 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37173
2025-04-24 11:58:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:04 [info] currentZPosition:0.166
2025-04-24 11:58:06 [debug] Stopped at height 0.168 mm
2025-04-24 11:58:06 [debug] Diagnostics for board 50:
2025-04-24 11:58:06 [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 11:58:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:10 ago, cause: software
2025-04-24 11:58:06 [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 11:58:06 [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 11:58:06 [debug] Moves scheduled 22068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 109, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:58:06 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min 0, mspos 840, reads 16060, writes 0 timeouts 0
2025-04-24 11:58:06 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37173
2025-04-24 11:58:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:06 [info] currentZPosition:0.168
2025-04-24 11:58:06 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:07 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:07 [debug] Diagnostics for board 50:
2025-04-24 11:58:07 [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 11:58:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:12 ago, cause: software
2025-04-24 11:58:07 [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 11:58:07 [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 11:58:07 [debug] Moves scheduled 22074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 113, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:07 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 21509, writes 0 timeouts 0
2025-04-24 11:58:07 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37175
2025-04-24 11:58:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:07 [info] currentZPosition:0.167
2025-04-24 11:58:09 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:09 [debug] Diagnostics for board 50:
2025-04-24 11:58:09 [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 11:58:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:13 ago, cause: software
2025-04-24 11:58:09 [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 11:58:09 [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 11:58:09 [debug] Moves scheduled 22078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:09 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16680, writes 0 timeouts 0
2025-04-24 11:58:09 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37176
2025-04-24 11:58:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:09 [info] currentZPosition:0.167
2025-04-24 11:58:10 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:10 [debug] Diagnostics for board 50:
2025-04-24 11:58:10 [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 11:58:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:15 ago, cause: software
2025-04-24 11:58:10 [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 11:58:10 [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 11:58:10 [debug] Moves scheduled 22082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 107, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:58:10 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17384, writes 0 timeouts 0
2025-04-24 11:58:10 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37179
2025-04-24 11:58:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:10 [info] currentZPosition:0.166
2025-04-24 11:58:11 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:11 [debug] Diagnostics for board 50:
2025-04-24 11:58:11 [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 11:58:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:16 ago, cause: software
2025-04-24 11:58:11 [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 11:58:11 [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 11:58:11 [debug] Moves scheduled 22086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 103, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:11 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16482, writes 0 timeouts 0
2025-04-24 11:58:11 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36162/37176
2025-04-24 11:58:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:11 [info] currentZPosition:0.166
2025-04-24 11:58:13 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:13 [debug] Diagnostics for board 50:
2025-04-24 11:58:13 [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 11:58:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:17 ago, cause: software
2025-04-24 11:58:13 [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 11:58:13 [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 11:58:13 [debug] Moves scheduled 22090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6696, max=17045
Sync err accum 96, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:13 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16938, writes 0 timeouts 0
2025-04-24 11:58:13 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37175
2025-04-24 11:58:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:13 [info] currentZPosition:0.167
2025-04-24 11:58:14 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:14 [debug] Diagnostics for board 50:
2025-04-24 11:58:14 [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 11:58:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:19 ago, cause: software
2025-04-24 11:58:14 [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 11:58:14 [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 11:58:14 [debug] Moves scheduled 22094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 87, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:14 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16811, writes 0 timeouts 0
2025-04-24 11:58:14 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36167/37178
2025-04-24 11:58:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:14 [info] currentZPosition:0.167
2025-04-24 11:58:15 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:15 [debug] Diagnostics for board 50:
2025-04-24 11:58:15 [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 11:58:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:20 ago, cause: software
2025-04-24 11:58:15 [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 11:58:15 [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 11:58:15 [debug] Moves scheduled 22098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 74, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:15 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17177, writes 0 timeouts 0
2025-04-24 11:58:15 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37179
2025-04-24 11:58:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:15 [info] currentZPosition:0.167
2025-04-24 11:58:17 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:17 [debug] Diagnostics for board 50:
2025-04-24 11:58:17 [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 11:58:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:22 ago, cause: software
2025-04-24 11:58:17 [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 11:58:17 [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 11:58:17 [debug] Moves scheduled 22102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=58, frequency (Hz): min=6465, max=17857
Sync err accum 61, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:58:17 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min 0, mspos 1000, reads 16390, writes 0 timeouts 0
2025-04-24 11:58:17 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36154/37178
2025-04-24 11:58:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:17 [info] currentZPosition:0.167
2025-04-24 11:58:18 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:18 [debug] Diagnostics for board 50:
2025-04-24 11:58:18 [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 11:58:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:00:23 ago, cause: software
2025-04-24 11:58:18 [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 11:58:18 [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 11:58:18 [debug] Moves scheduled 22106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6355, max=18292
Sync err accum 69, peak jitter -2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:18 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17506, writes 0 timeouts 0
2025-04-24 11:58:18 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 11:58:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:18 [info] currentZPosition:0.167
2025-04-24 11:58:19 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:19 [debug] Diagnostics for board 50:
2025-04-24 11:58:19 [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 11:58:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:24 ago, cause: software
2025-04-24 11:58:19 [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 11:58:19 [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 11:58:19 [debug] Moves scheduled 22110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=495, max=17857
Sync err accum 86, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294929323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:19 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16890, writes 11 timeouts 1
2025-04-24 11:58:19 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36162/37173
2025-04-24 11:58:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:20 [info] currentZPosition:0.166
2025-04-24 11:58:21 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:21 [debug] Diagnostics for board 50:
2025-04-24 11:58:21 [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 11:58:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:26 ago, cause: software
2025-04-24 11:58:21 [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 11:58:21 [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 11:58:21 [debug] Moves scheduled 22114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 97, peak jitter 1/4, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935294 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:21 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16736, writes 0 timeouts 0
2025-04-24 11:58:21 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37172
2025-04-24 11:58:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:21 [info] currentZPosition:0.167
2025-04-24 11:58:21 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:22 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:22 [debug] Diagnostics for board 50:
2025-04-24 11:58:22 [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 11:58:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:27 ago, cause: software
2025-04-24 11:58:22 [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 11:58:22 [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 11:58:22 [debug] Moves scheduled 22120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 104, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:22 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 20800, writes 0 timeouts 0
2025-04-24 11:58:22 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37174
2025-04-24 11:58:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:23 [info] currentZPosition:0.166
2025-04-24 11:58:24 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:24 [debug] Diagnostics for board 50:
2025-04-24 11:58:24 [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 11:58:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:29 ago, cause: software
2025-04-24 11:58:24 [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 11:58:24 [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 11:58:24 [debug] Moves scheduled 22124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6465, max=17857
Sync err accum 113, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:24 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17254, writes 0 timeouts 0
2025-04-24 11:58:24 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37176
2025-04-24 11:58:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:24 [info] currentZPosition:0.166
2025-04-24 11:58:25 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:25 [debug] Diagnostics for board 50:
2025-04-24 11:58:25 [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 11:58:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:30 ago, cause: software
2025-04-24 11:58:25 [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 11:58:25 [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 11:58:25 [debug] Moves scheduled 22128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6355, max=17045
Sync err accum 114, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:25 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16608, writes 0 timeouts 0
2025-04-24 11:58:25 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36168/37175
2025-04-24 11:58:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:25 [info] currentZPosition:0.166
2025-04-24 11:58:27 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:27 [debug] Diagnostics for board 50:
2025-04-24 11:58:27 [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 11:58:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:31 ago, cause: software
2025-04-24 11:58:27 [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 11:58:27 [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 11:58:27 [debug] Moves scheduled 22132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 112, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:27 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17005, writes 0 timeouts 0
2025-04-24 11:58:27 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37174
2025-04-24 11:58:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:27 [info] currentZPosition:0.166
2025-04-24 11:58:28 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:28 [debug] Diagnostics for board 50:
2025-04-24 11:58:28 [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 11:58:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:33 ago, cause: software
2025-04-24 11:58:28 [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 11:58:28 [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 11:58:28 [debug] Moves scheduled 22136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 108, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:58:28 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16492, writes 0 timeouts 0
2025-04-24 11:58:28 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36284/37177
2025-04-24 11:58:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:28 [info] currentZPosition:0.167
2025-04-24 11:58:29 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:29 [debug] Diagnostics for board 50:
2025-04-24 11:58:29 [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 11:58:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:34 ago, cause: software
2025-04-24 11:58:29 [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 11:58:29 [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 11:58:29 [debug] Moves scheduled 22140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 105, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:29 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17145, writes 0 timeouts 0
2025-04-24 11:58:29 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37174
2025-04-24 11:58:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:29 [info] currentZPosition:0.167
2025-04-24 11:58:31 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:31 [debug] Diagnostics for board 50:
2025-04-24 11:58:31 [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 11:58:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:35 ago, cause: software
2025-04-24 11:58:31 [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 11:58:31 [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 11:58:31 [debug] Moves scheduled 22144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 96, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:31 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16838, writes 0 timeouts 0
2025-04-24 11:58:31 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36405/37178
2025-04-24 11:58:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:31 [info] currentZPosition:0.166
2025-04-24 11:58:32 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:32 [debug] Diagnostics for board 50:
2025-04-24 11:58:32 [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 11:58:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:37 ago, cause: software
2025-04-24 11:58:32 [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 11:58:32 [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 11:58:32 [debug] Moves scheduled 22148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6355, max=18292
Sync err accum 87, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:32 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16937, writes 0 timeouts 0
2025-04-24 11:58:32 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37178
2025-04-24 11:58:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:32 [info] currentZPosition:0.167
2025-04-24 11:58:33 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:33 [debug] Diagnostics for board 50:
2025-04-24 11:58:33 [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 11:58:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:38 ago, cause: software
2025-04-24 11:58:33 [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 11:58:33 [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 11:58:33 [debug] Moves scheduled 22152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 74, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:33 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16849, writes 0 timeouts 0
2025-04-24 11:58:33 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37172
2025-04-24 11:58:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:33 [info] currentZPosition:0.166
2025-04-24 11:58:35 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:35 [debug] Diagnostics for board 50:
2025-04-24 11:58:35 [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 11:58:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:39 ago, cause: software
2025-04-24 11:58:35 [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 11:58:35 [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 11:58:35 [debug] Moves scheduled 22156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=574, max=17045
Sync err accum 62, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:35 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17163, writes 11 timeouts 1
2025-04-24 11:58:35 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37177
2025-04-24 11:58:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:35 [info] currentZPosition:0.166
2025-04-24 11:58:36 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:36 [debug] Diagnostics for board 50:
2025-04-24 11:58:36 [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 11:58:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:41 ago, cause: software
2025-04-24 11:58:36 [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 11:58:36 [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 11:58:36 [debug] Moves scheduled 22160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:36 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16627, writes 0 timeouts 0
2025-04-24 11:58:36 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36380/37174
2025-04-24 11:58:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:36 [info] currentZPosition:0.166
2025-04-24 11:58:37 [debug] Stopped at height 0.168 mm
2025-04-24 11:58:37 [debug] Diagnostics for board 50:
2025-04-24 11:58:37 [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 11:58:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:42 ago, cause: software
2025-04-24 11:58:37 [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 11:58:37 [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 11:58:37 [debug] Moves scheduled 22164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 75, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:37 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min 0, mspos 920, reads 16488, writes 0 timeouts 0
2025-04-24 11:58:37 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36100/37173
2025-04-24 11:58:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 814
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:37 [info] currentZPosition:0.168
2025-04-24 11:58:38 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:39 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:39 [debug] Diagnostics for board 50:
2025-04-24 11:58:39 [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 11:58:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:44 ago, cause: software
2025-04-24 11:58:39 [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 11:58:39 [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 11:58:39 [debug] Moves scheduled 22170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6578, max=17045
Sync err accum 77, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:39 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 21045, writes 0 timeouts 0
2025-04-24 11:58:39 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37175
2025-04-24 11:58:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:39 [info] currentZPosition:0.166
2025-04-24 11:58:40 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:40 [debug] Diagnostics for board 50:
2025-04-24 11:58:40 [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 11:58:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:45 ago, cause: software
2025-04-24 11:58:40 [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 11:58:40 [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 11:58:40 [debug] Moves scheduled 22174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:40 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17351, writes 0 timeouts 0
2025-04-24 11:58:40 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37176
2025-04-24 11:58:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:40 [info] currentZPosition:0.166
2025-04-24 11:58:42 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:42 [debug] Diagnostics for board 50:
2025-04-24 11:58:42 [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 11:58:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:47 ago, cause: software
2025-04-24 11:58:42 [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 11:58:42 [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 11:58:42 [debug] Moves scheduled 22178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:42 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16584, writes 0 timeouts 0
2025-04-24 11:58:42 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37175
2025-04-24 11:58:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:42 [info] currentZPosition:0.166
2025-04-24 11:58:43 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:43 [debug] Diagnostics for board 50:
2025-04-24 11:58:43 [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 11:58:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:00:48 ago, cause: software
2025-04-24 11:58:43 [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 11:58:43 [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 11:58:43 [debug] Moves scheduled 22182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6944, max=17045
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:43 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16819, writes 0 timeouts 0
2025-04-24 11:58:43 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36111/37176
2025-04-24 11:58:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:43 [info] currentZPosition:0.167
2025-04-24 11:58:44 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:44 [debug] Diagnostics for board 50:
2025-04-24 11:58:44 [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 11:58:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:49 ago, cause: software
2025-04-24 11:58:44 [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 11:58:44 [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 11:58:44 [debug] Moves scheduled 22186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:44 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16693, writes 0 timeouts 0
2025-04-24 11:58:44 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36405/37176
2025-04-24 11:58:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:44 [info] currentZPosition:0.167
2025-04-24 11:58:46 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:46 [debug] Diagnostics for board 50:
2025-04-24 11:58:46 [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 11:58:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:51 ago, cause: software
2025-04-24 11:58:46 [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 11:58:46 [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 11:58:46 [debug] Moves scheduled 22190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:46 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17305, writes 0 timeouts 0
2025-04-24 11:58:46 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37179
2025-04-24 11:58:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:46 [info] currentZPosition:0.166
2025-04-24 11:58:47 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:47 [debug] Diagnostics for board 50:
2025-04-24 11:58:47 [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 11:58:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:52 ago, cause: software
2025-04-24 11:58:47 [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 11:58:47 [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 11:58:47 [debug] Moves scheduled 22194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:47 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16822, writes 0 timeouts 0
2025-04-24 11:58:47 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37173
2025-04-24 11:58:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:47 [info] currentZPosition:0.166
2025-04-24 11:58:48 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:48 [debug] Diagnostics for board 50:
2025-04-24 11:58:48 [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 11:58:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:53 ago, cause: software
2025-04-24 11:58:48 [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 11:58:48 [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 11:58:48 [debug] Moves scheduled 22198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 79, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:48 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17028, writes 0 timeouts 0
2025-04-24 11:58:48 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36091/37176
2025-04-24 11:58:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:49 [info] currentZPosition:0.166
2025-04-24 11:58:50 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:50 [debug] Diagnostics for board 50:
2025-04-24 11:58:50 [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 11:58:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:55 ago, cause: software
2025-04-24 11:58:50 [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 11:58:50 [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 11:58:50 [debug] Moves scheduled 22202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 85, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:58:50 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16357, writes 0 timeouts 0
2025-04-24 11:58:50 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37172
2025-04-24 11:58:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:50 [info] currentZPosition:0.167
2025-04-24 11:58:51 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:51 [debug] Diagnostics for board 50:
2025-04-24 11:58:51 [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 11:58:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:56 ago, cause: software
2025-04-24 11:58:51 [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 11:58:51 [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 11:58:51 [debug] Moves scheduled 22206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6250, max=18292
Sync err accum 87, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:51 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17506, writes 0 timeouts 0
2025-04-24 11:58:51 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36096/37175
2025-04-24 11:58:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:51 [info] currentZPosition:0.166
2025-04-24 11:58:53 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:53 [debug] Diagnostics for board 50:
2025-04-24 11:58:53 [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 11:58:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:57 ago, cause: software
2025-04-24 11:58:53 [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 11:58:53 [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 11:58:53 [debug] Moves scheduled 22210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 87, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:53 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16620, writes 0 timeouts 0
2025-04-24 11:58:53 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37171
2025-04-24 11:58:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:53 [info] currentZPosition:0.166
2025-04-24 11:58:54 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:54 [debug] Diagnostics for board 50:
2025-04-24 11:58:54 [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 11:58:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:00:59 ago, cause: software
2025-04-24 11:58:54 [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 11:58:54 [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 11:58:54 [debug] Moves scheduled 22214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 85, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:54 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17345, writes 0 timeouts 0
2025-04-24 11:58:54 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37174
2025-04-24 11:58:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:54 [info] currentZPosition:0.166
2025-04-24 11:58:55 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:55 [debug] Diagnostics for board 50:
2025-04-24 11:58:55 [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 11:58:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:00 ago, cause: software
2025-04-24 11:58:55 [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 11:58:55 [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 11:58:55 [debug] Moves scheduled 22218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 11:58:55 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16548, writes 0 timeouts 0
2025-04-24 11:58:55 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37174
2025-04-24 11:58:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:55 [info] currentZPosition:0.166
2025-04-24 11:58:57 [debug] Stopped at height 0.167 mm
2025-04-24 11:58:57 [debug] Diagnostics for board 50:
2025-04-24 11:58:57 [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 11:58:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:01 ago, cause: software
2025-04-24 11:58:57 [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 11:58:57 [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 11:58:57 [debug] Moves scheduled 22222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:58:57 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16701, writes 0 timeouts 0
2025-04-24 11:58:57 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36113/37178
2025-04-24 11:58:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:57 [info] currentZPosition:0.167
2025-04-24 11:58:57 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:58 [debug] Stopped at height 0.166 mm
2025-04-24 11:58:58 [debug] Diagnostics for board 50:
2025-04-24 11:58:58 [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 11:58:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:03 ago, cause: software
2025-04-24 11:58:58 [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 11:58:58 [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 11:58:58 [debug] Moves scheduled 22228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6578, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:58:58 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20790, writes 0 timeouts 0
2025-04-24 11:58:58 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36380/37177
2025-04-24 11:58:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:58:58 [info] currentZPosition:0.166
2025-04-24 11:59:00 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:00 [debug] Diagnostics for board 50:
2025-04-24 11:59:00 [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 11:59:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:04 ago, cause: software
2025-04-24 11:59:00 [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 11:59:00 [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 11:59:00 [debug] Moves scheduled 22232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:00 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16980, writes 0 timeouts 0
2025-04-24 11:59:00 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37176
2025-04-24 11:59:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:00 [info] currentZPosition:0.167
2025-04-24 11:59:01 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:01 [debug] Diagnostics for board 50:
2025-04-24 11:59:01 [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 11:59:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:06 ago, cause: software
2025-04-24 11:59:01 [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 11:59:01 [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 11:59:01 [debug] Moves scheduled 22236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934171 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:59:01 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16752, writes 0 timeouts 0
2025-04-24 11:59:01 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36400/37172
2025-04-24 11:59:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:01 [info] currentZPosition:0.167
2025-04-24 11:59:02 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:02 [debug] Diagnostics for board 50:
2025-04-24 11:59:02 [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 11:59:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:07 ago, cause: software
2025-04-24 11:59:02 [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 11:59:02 [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 11:59:02 [debug] Moves scheduled 22240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6355, max=18292
Sync err accum 69, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:02 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17025, writes 0 timeouts 0
2025-04-24 11:59:02 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36108/37175
2025-04-24 11:59:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:02 [info] currentZPosition:0.167
2025-04-24 11:59:04 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:04 [debug] Diagnostics for board 50:
2025-04-24 11:59:04 [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 11:59:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:08 ago, cause: software
2025-04-24 11:59:04 [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 11:59:04 [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 11:59:04 [debug] Moves scheduled 22244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17857
Sync err accum 66, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:04 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16618, writes 0 timeouts 0
2025-04-24 11:59:04 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37172
2025-04-24 11:59:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:04 [info] currentZPosition:0.167
2025-04-24 11:59:05 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:05 [debug] Diagnostics for board 50:
2025-04-24 11:59:05 [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 11:59:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:10 ago, cause: software
2025-04-24 11:59:05 [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 11:59:05 [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 11:59:05 [debug] Moves scheduled 22248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:05 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17510, writes 0 timeouts 0
2025-04-24 11:59:05 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37178
2025-04-24 11:59:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:05 [info] currentZPosition:0.166
2025-04-24 11:59:06 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:06 [debug] Diagnostics for board 50:
2025-04-24 11:59:06 [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 11:59:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:11 ago, cause: software
2025-04-24 11:59:06 [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 11:59:06 [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 11:59:06 [debug] Moves scheduled 22252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:06 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16463, writes 0 timeouts 0
2025-04-24 11:59:06 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37176
2025-04-24 11:59:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:06 [info] currentZPosition:0.166
2025-04-24 11:59:08 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:08 [debug] Diagnostics for board 50:
2025-04-24 11:59:08 [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 11:59:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:13 ago, cause: software
2025-04-24 11:59:08 [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 11:59:08 [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 11:59:08 [debug] Moves scheduled 22256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6355, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:08 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17013, writes 0 timeouts 0
2025-04-24 11:59:08 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37170
2025-04-24 11:59:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:08 [info] currentZPosition:0.167
2025-04-24 11:59:09 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:09 [debug] Diagnostics for board 50:
2025-04-24 11:59:09 [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 11:59:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:14 ago, cause: software
2025-04-24 11:59:09 [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 11:59:09 [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 11:59:09 [debug] Moves scheduled 22260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=17857
Sync err accum 72, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:09 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16813, writes 0 timeouts 0
2025-04-24 11:59:09 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37174
2025-04-24 11:59:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:09 [info] currentZPosition:0.166
2025-04-24 11:59:10 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:10 [debug] Diagnostics for board 50:
2025-04-24 11:59:10 [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 11:59:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:15 ago, cause: software
2025-04-24 11:59:10 [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 11:59:10 [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 11:59:10 [debug] Moves scheduled 22264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17045
Sync err accum 73, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:10 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17183, writes 0 timeouts 0
2025-04-24 11:59:10 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36113/37177
2025-04-24 11:59:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:10 [info] currentZPosition:0.166
2025-04-24 11:59:12 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:12 [debug] Diagnostics for board 50:
2025-04-24 11:59:12 [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 11:59:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:17 ago, cause: software
2025-04-24 11:59:12 [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 11:59:12 [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 11:59:12 [debug] Moves scheduled 22268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5952, max=17857
Sync err accum 71, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:12 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16398, writes 0 timeouts 0
2025-04-24 11:59:12 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36404/37176
2025-04-24 11:59:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:12 [info] currentZPosition:0.167
2025-04-24 11:59:13 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:13 [debug] Diagnostics for board 50:
2025-04-24 11:59:13 [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 11:59:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:18 ago, cause: software
2025-04-24 11:59:13 [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 11:59:13 [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 11:59:13 [debug] Moves scheduled 22272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=17441
Sync err accum 66, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:13 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17172, writes 0 timeouts 0
2025-04-24 11:59:13 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37178
2025-04-24 11:59:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:13 [info] currentZPosition:0.167
2025-04-24 11:59:14 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:14 [debug] Diagnostics for board 50:
2025-04-24 11:59:14 [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 11:59:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:19 ago, cause: software
2025-04-24 11:59:14 [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 11:59:14 [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 11:59:14 [debug] Moves scheduled 22276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6756, max=18292
Sync err accum 65, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:14 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16789, writes 0 timeouts 0
2025-04-24 11:59:14 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37171
2025-04-24 11:59:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:15 [info] currentZPosition:0.167
2025-04-24 11:59:16 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:16 [debug] Diagnostics for board 50:
2025-04-24 11:59:16 [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 11:59:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:21 ago, cause: software
2025-04-24 11:59:16 [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 11:59:16 [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 11:59:16 [debug] Moves scheduled 22280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:16 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17258, writes 0 timeouts 0
2025-04-24 11:59:16 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37174
2025-04-24 11:59:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:16 [info] currentZPosition:0.166
2025-04-24 11:59:17 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:17 [debug] Diagnostics for board 50:
2025-04-24 11:59:17 [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 11:59:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:22 ago, cause: software
2025-04-24 11:59:17 [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 11:59:17 [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 11:59:17 [debug] Moves scheduled 22284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6048, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:17 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16504, writes 0 timeouts 0
2025-04-24 11:59:17 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37176
2025-04-24 11:59:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:17 [info] currentZPosition:0.167
2025-04-24 11:59:19 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:19 [debug] Diagnostics for board 50:
2025-04-24 11:59:19 [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 11:59:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:23 ago, cause: software
2025-04-24 11:59:19 [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 11:59:19 [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 11:59:19 [debug] Moves scheduled 22288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 65, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:19 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17562, writes 0 timeouts 0
2025-04-24 11:59:19 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37178
2025-04-24 11:59:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:19 [info] currentZPosition:0.166
2025-04-24 11:59:20 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:20 [debug] Diagnostics for board 50:
2025-04-24 11:59:20 [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 11:59:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:25 ago, cause: software
2025-04-24 11:59:20 [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 11:59:20 [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 11:59:20 [debug] Moves scheduled 22292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:20 [debug] Driver 0: pos -3516, 10060.2 steps/mm, standstill, SG min 0, mspos 168, reads 16411, writes 0 timeouts 0
2025-04-24 11:59:20 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36280/37169
2025-04-24 11:59:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:20 [info] currentZPosition:0.167
2025-04-24 11:59:21 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:21 [debug] Diagnostics for board 50:
2025-04-24 11:59:21 [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 11:59:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:26 ago, cause: software
2025-04-24 11:59:21 [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 11:59:21 [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 11:59:21 [debug] Moves scheduled 22296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=18292
Sync err accum 67, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:21 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17617, writes 0 timeouts 0
2025-04-24 11:59:21 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37176
2025-04-24 11:59:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:21 [info] currentZPosition:0.167
2025-04-24 11:59:23 [debug] Stopped at height 0.165 mm
2025-04-24 11:59:23 [debug] Diagnostics for board 50:
2025-04-24 11:59:23 [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 11:59:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:27 ago, cause: software
2025-04-24 11:59:23 [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 11:59:23 [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 11:59:23 [debug] Moves scheduled 22300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=18292
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:23 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17109, writes 0 timeouts 0
2025-04-24 11:59:23 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36169/37176
2025-04-24 11:59:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:23 [info] currentZPosition:0.165
2025-04-24 11:59:23 [debug] Stopped at height 0.165 mm
2025-04-24 11:59:24 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:24 [debug] Diagnostics for board 50:
2025-04-24 11:59:24 [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 11:59:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:29 ago, cause: software
2025-04-24 11:59:24 [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 11:59:24 [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 11:59:24 [debug] Moves scheduled 22306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=5859, max=17857
Sync err accum 66, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:24 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20549, writes 0 timeouts 0
2025-04-24 11:59:24 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36108/37177
2025-04-24 11:59:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:24 [info] currentZPosition:0.167
2025-04-24 11:59:25 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:26 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:26 [debug] Diagnostics for board 50:
2025-04-24 11:59:26 [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 11:59:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:31 ago, cause: software
2025-04-24 11:59:26 [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 11:59:26 [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 11:59:26 [debug] Moves scheduled 22312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6465, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294933001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:59:26 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20553, writes 0 timeouts 0
2025-04-24 11:59:26 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36165/37173
2025-04-24 11:59:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:26 [info] currentZPosition:0.167
2025-04-24 11:59:27 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:27 [debug] Diagnostics for board 50:
2025-04-24 11:59:27 [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 11:59:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:32 ago, cause: software
2025-04-24 11:59:27 [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 11:59:27 [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 11:59:27 [debug] Moves scheduled 22316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 75, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:27 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17076, writes 0 timeouts 0
2025-04-24 11:59:27 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37171
2025-04-24 11:59:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:27 [info] currentZPosition:0.167
2025-04-24 11:59:29 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:29 [debug] Diagnostics for board 50:
2025-04-24 11:59:29 [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 11:59:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:01:33 ago, cause: software
2025-04-24 11:59:29 [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 11:59:29 [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 11:59:29 [debug] Moves scheduled 22320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6302, max=17045
Sync err accum 72, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:29 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16491, writes 0 timeouts 0
2025-04-24 11:59:29 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37175
2025-04-24 11:59:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:29 [info] currentZPosition:0.167
2025-04-24 11:59:30 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:30 [debug] Diagnostics for board 50:
2025-04-24 11:59:30 [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 11:59:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:35 ago, cause: software
2025-04-24 11:59:30 [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 11:59:30 [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 11:59:30 [debug] Moves scheduled 22324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5813, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:30 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17137, writes 0 timeouts 0
2025-04-24 11:59:30 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36104/37173
2025-04-24 11:59:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:30 [info] currentZPosition:0.167
2025-04-24 11:59:31 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:31 [debug] Diagnostics for board 50:
2025-04-24 11:59:31 [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 11:59:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:36 ago, cause: software
2025-04-24 11:59:31 [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 11:59:31 [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 11:59:31 [debug] Moves scheduled 22328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 65, peak jitter -1/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:31 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16935, writes 0 timeouts 0
2025-04-24 11:59:31 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36169/37171
2025-04-24 11:59:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:31 [info] currentZPosition:0.166
2025-04-24 11:59:33 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:33 [debug] Diagnostics for board 50:
2025-04-24 11:59:33 [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 11:59:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:38 ago, cause: software
2025-04-24 11:59:33 [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 11:59:33 [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 11:59:33 [debug] Moves scheduled 22332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 65, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:33 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17024, writes 0 timeouts 0
2025-04-24 11:59:33 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36002/37174
2025-04-24 11:59:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:33 [info] currentZPosition:0.167
2025-04-24 11:59:34 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:34 [debug] Diagnostics for board 50:
2025-04-24 11:59:34 [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 11:59:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:39 ago, cause: software
2025-04-24 11:59:34 [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 11:59:34 [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 11:59:34 [debug] Moves scheduled 22336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:59:34 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16462, writes 0 timeouts 0
2025-04-24 11:59:34 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36167/37174
2025-04-24 11:59:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:34 [info] currentZPosition:0.167
2025-04-24 11:59:35 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:35 [debug] Diagnostics for board 50:
2025-04-24 11:59:35 [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 11:59:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:40 ago, cause: software
2025-04-24 11:59:35 [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 11:59:35 [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 11:59:35 [debug] Moves scheduled 22340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 76, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:59:35 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17355, writes 0 timeouts 0
2025-04-24 11:59:35 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36093/37174
2025-04-24 11:59:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:35 [info] currentZPosition:0.166
2025-04-24 11:59:37 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:37 [debug] Diagnostics for board 50:
2025-04-24 11:59:37 [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 11:59:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:42 ago, cause: software
2025-04-24 11:59:37 [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 11:59:37 [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 11:59:37 [debug] Moves scheduled 22344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 79, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:37 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16415, writes 0 timeouts 0
2025-04-24 11:59:37 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36162/37175
2025-04-24 11:59:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:37 [info] currentZPosition:0.167
2025-04-24 11:59:38 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:38 [debug] Diagnostics for board 50:
2025-04-24 11:59:38 [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 11:59:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:43 ago, cause: software
2025-04-24 11:59:38 [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 11:59:38 [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 11:59:38 [debug] Moves scheduled 22348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17857
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:38 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min 0, mspos 72, reads 16989, writes 0 timeouts 0
2025-04-24 11:59:38 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37173
2025-04-24 11:59:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:38 [info] currentZPosition:0.168
2025-04-24 11:59:39 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:39 [debug] Diagnostics for board 50:
2025-04-24 11:59:39 [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 11:59:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:44 ago, cause: software
2025-04-24 11:59:39 [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 11:59:39 [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 11:59:39 [debug] Moves scheduled 22352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:39 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17178, writes 0 timeouts 0
2025-04-24 11:59:39 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36166/37178
2025-04-24 11:59:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:40 [info] currentZPosition:0.166
2025-04-24 11:59:40 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:41 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:41 [debug] Diagnostics for board 50:
2025-04-24 11:59:41 [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 11:59:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:46 ago, cause: software
2025-04-24 11:59:41 [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 11:59:41 [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 11:59:41 [debug] Moves scheduled 22358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6198, max=17045
Sync err accum 74, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:41 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20400, writes 0 timeouts 0
2025-04-24 11:59:41 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 295, adv 36112/37178
2025-04-24 11:59:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:41 [info] currentZPosition:0.168
2025-04-24 11:59:42 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:42 [debug] Diagnostics for board 50:
2025-04-24 11:59:42 [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 11:59:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:47 ago, cause: software
2025-04-24 11:59:42 [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 11:59:42 [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 11:59:42 [debug] Moves scheduled 22362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:42 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16846, writes 0 timeouts 0
2025-04-24 11:59:42 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37177
2025-04-24 11:59:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:43 [info] currentZPosition:0.167
2025-04-24 11:59:44 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:44 [debug] Diagnostics for board 50:
2025-04-24 11:59:44 [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 11:59:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:49 ago, cause: software
2025-04-24 11:59:44 [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 11:59:44 [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 11:59:44 [debug] Moves scheduled 22366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=5639, max=17857
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:44 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17178, writes 0 timeouts 0
2025-04-24 11:59:44 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37176
2025-04-24 11:59:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:44 [info] currentZPosition:0.167
2025-04-24 11:59:45 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:45 [debug] Diagnostics for board 50:
2025-04-24 11:59:45 [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 11:59:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:50 ago, cause: software
2025-04-24 11:59:45 [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 11:59:45 [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 11:59:45 [debug] Moves scheduled 22370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 70, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:59:45 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16474, writes 0 timeouts 0
2025-04-24 11:59:45 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36149/37172
2025-04-24 11:59:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:45 [info] currentZPosition:0.168
2025-04-24 11:59:47 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:47 [debug] Diagnostics for board 50:
2025-04-24 11:59:47 [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 11:59:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:51 ago, cause: software
2025-04-24 11:59:47 [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 11:59:47 [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 11:59:47 [debug] Moves scheduled 22374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5769, max=17857
Sync err accum 86, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:59:47 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17275, writes 0 timeouts 0
2025-04-24 11:59:47 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37172
2025-04-24 11:59:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:47 [info] currentZPosition:0.167
2025-04-24 11:59:48 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:48 [debug] Diagnostics for board 50:
2025-04-24 11:59:48 [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 11:59:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:53 ago, cause: software
2025-04-24 11:59:48 [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 11:59:48 [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 11:59:48 [debug] Moves scheduled 22378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 99, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 11:59:48 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17108, writes 0 timeouts 0
2025-04-24 11:59:48 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36164/37175
2025-04-24 11:59:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:48 [info] currentZPosition:0.166
2025-04-24 11:59:48 [debug] Stopped at height 0.165 mm
2025-04-24 11:59:50 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:50 [debug] Diagnostics for board 50:
2025-04-24 11:59:50 [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 11:59:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:54 ago, cause: software
2025-04-24 11:59:50 [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 11:59:50 [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 11:59:50 [debug] Moves scheduled 22384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 110, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 11:59:50 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20587, writes 0 timeouts 0
2025-04-24 11:59:50 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37175
2025-04-24 11:59:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:50 [info] currentZPosition:0.168
2025-04-24 11:59:50 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:51 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:51 [debug] Diagnostics for board 50:
2025-04-24 11:59:51 [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 11:59:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:56 ago, cause: software
2025-04-24 11:59:51 [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 11:59:51 [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 11:59:51 [debug] Moves scheduled 22390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 119, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:51 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20652, writes 0 timeouts 0
2025-04-24 11:59:51 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36157/37169
2025-04-24 11:59:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:51 [info] currentZPosition:0.167
2025-04-24 11:59:53 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:53 [debug] Diagnostics for board 50:
2025-04-24 11:59:53 [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 11:59:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:57 ago, cause: software
2025-04-24 11:59:53 [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 11:59:53 [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 11:59:53 [debug] Moves scheduled 22394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 123, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:53 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17404, writes 0 timeouts 0
2025-04-24 11:59:53 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37175
2025-04-24 11:59:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:53 [info] currentZPosition:0.167
2025-04-24 11:59:54 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:54 [debug] Diagnostics for board 50:
2025-04-24 11:59:54 [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 11:59:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:01:59 ago, cause: software
2025-04-24 11:59:54 [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 11:59:54 [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 11:59:54 [debug] Moves scheduled 22398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 123, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:54 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16128, writes 0 timeouts 0
2025-04-24 11:59:54 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36167/37170
2025-04-24 11:59:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:54 [info] currentZPosition:0.168
2025-04-24 11:59:54 [debug] Stopped at height 0.166 mm
2025-04-24 11:59:56 [debug] Stopped at height 0.167 mm
2025-04-24 11:59:56 [debug] Diagnostics for board 50:
2025-04-24 11:59:56 [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 11:59:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:00 ago, cause: software
2025-04-24 11:59:56 [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 11:59:56 [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 11:59:56 [debug] Moves scheduled 22404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 119, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294933021 ticks, disabled
VIN 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 11:59:56 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 21460, writes 0 timeouts 0
2025-04-24 11:59:56 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37174
2025-04-24 11:59:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:56 [info] currentZPosition:0.167
2025-04-24 11:59:57 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:57 [debug] Diagnostics for board 50:
2025-04-24 11:59:57 [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 11:59:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:02 ago, cause: software
2025-04-24 11:59:57 [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 11:59:57 [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 11:59:57 [debug] Moves scheduled 22408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17857
Sync err accum 113, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 11:59:57 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16361, writes 0 timeouts 0
2025-04-24 11:59:57 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36169/37175
2025-04-24 11:59:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:57 [info] currentZPosition:0.168
2025-04-24 11:59:58 [debug] Stopped at height 0.168 mm
2025-04-24 11:59:58 [debug] Diagnostics for board 50:
2025-04-24 11:59:58 [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 11:59:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:03 ago, cause: software
2025-04-24 11:59:58 [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 11:59:58 [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 11:59:58 [debug] Moves scheduled 22412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 106, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 11:59:58 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17220, writes 0 timeouts 0
2025-04-24 11:59:58 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37175
2025-04-24 11:59:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 11:59:58 [info] currentZPosition:0.168
2025-04-24 12:00:00 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:00 [debug] Diagnostics for board 50:
2025-04-24 12:00:00 [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 12:00:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:04 ago, cause: software
2025-04-24 12:00:00 [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 12:00:00 [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 12:00:00 [debug] Moves scheduled 22416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=586, max=17045
Sync err accum 97, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:00 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16714, writes 11 timeouts 1
2025-04-24 12:00:00 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36168/37178
2025-04-24 12:00:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:00 [info] currentZPosition:0.167
2025-04-24 12:00:01 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:01 [debug] Diagnostics for board 50:
2025-04-24 12:00:01 [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 12:00:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:06 ago, cause: software
2025-04-24 12:00:01 [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 12:00:01 [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 12:00:01 [debug] Moves scheduled 22420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 86, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:01 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17144, writes 0 timeouts 0
2025-04-24 12:00:01 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36094/37176
2025-04-24 12:00:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:01 [info] currentZPosition:0.167
2025-04-24 12:00:02 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:02 [debug] Diagnostics for board 50:
2025-04-24 12:00:02 [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 12:00:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:07 ago, cause: software
2025-04-24 12:00:02 [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 12:00:02 [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 12:00:02 [debug] Moves scheduled 22424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 70, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:02 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16681, writes 0 timeouts 0
2025-04-24 12:00:02 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36150/37176
2025-04-24 12:00:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:02 [info] currentZPosition:0.167
2025-04-24 12:00:04 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:04 [debug] Diagnostics for board 50:
2025-04-24 12:00:04 [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 12:00:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:09 ago, cause: software
2025-04-24 12:00:04 [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 12:00:04 [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 12:00:04 [debug] Moves scheduled 22428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6250, max=18292
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:04 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16941, writes 0 timeouts 0
2025-04-24 12:00:04 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37175
2025-04-24 12:00:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:04 [info] currentZPosition:0.168
2025-04-24 12:00:05 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:05 [debug] Diagnostics for board 50:
2025-04-24 12:00:05 [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 12:00:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:10 ago, cause: software
2025-04-24 12:00:05 [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 12:00:05 [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 12:00:05 [debug] Moves scheduled 22432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:05 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16909, writes 0 timeouts 0
2025-04-24 12:00:05 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37177
2025-04-24 12:00:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:05 [info] currentZPosition:0.167
2025-04-24 12:00:06 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:06 [debug] Diagnostics for board 50:
2025-04-24 12:00:06 [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 12:00:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:11 ago, cause: software
2025-04-24 12:00:06 [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 12:00:06 [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 12:00:06 [debug] Moves scheduled 22436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 74, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:00:06 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16975, writes 0 timeouts 0
2025-04-24 12:00:06 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 12:00:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:06 [info] currentZPosition:0.167
2025-04-24 12:00:08 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:08 [debug] Diagnostics for board 50:
2025-04-24 12:00:08 [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 12:00:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:13 ago, cause: software
2025-04-24 12:00:08 [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 12:00:08 [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 12:00:08 [debug] Moves scheduled 22440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 76, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:08 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16714, writes 0 timeouts 0
2025-04-24 12:00:08 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36161/37176
2025-04-24 12:00:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:08 [info] currentZPosition:0.167
2025-04-24 12:00:09 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:09 [debug] Diagnostics for board 50:
2025-04-24 12:00:09 [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 12:00:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:14 ago, cause: software
2025-04-24 12:00:09 [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 12:00:09 [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 12:00:09 [debug] Moves scheduled 22444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6696, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:00:09 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16849, writes 0 timeouts 0
2025-04-24 12:00:09 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36109/37176
2025-04-24 12:00:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:09 [info] currentZPosition:0.168
2025-04-24 12:00:10 [debug] Stopped at height 0.166 mm
2025-04-24 12:00:10 [debug] Stopped at height 0.165 mm
2025-04-24 12:00:11 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:11 [debug] Diagnostics for board 50:
2025-04-24 12:00:11 [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 12:00:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:16 ago, cause: software
2025-04-24 12:00:11 [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 12:00:11 [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 12:00:11 [debug] Moves scheduled 22452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 76, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:11 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min 0, mspos 968, reads 24439, writes 0 timeouts 0
2025-04-24 12:00:11 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 285, adv 36167/37176
2025-04-24 12:00:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:11 [info] currentZPosition:0.169
2025-04-24 12:00:11 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:12 [debug] Stopped at height 0.166 mm
2025-04-24 12:00:13 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:13 [debug] Diagnostics for board 50:
2025-04-24 12:00:13 [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 12:00:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:18 ago, cause: software
2025-04-24 12:00:13 [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 12:00:13 [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 12:00:13 [debug] Moves scheduled 22460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 70, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:13 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 25617, writes 0 timeouts 0
2025-04-24 12:00:13 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 292, adv 36101/37176
2025-04-24 12:00:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:13 [info] currentZPosition:0.168
2025-04-24 12:00:14 [debug] Stopped at height 0.166 mm
2025-04-24 12:00:15 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:15 [debug] Diagnostics for board 50:
2025-04-24 12:00:15 [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 12:00:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:20 ago, cause: software
2025-04-24 12:00:15 [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 12:00:15 [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 12:00:15 [debug] Moves scheduled 22466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:15 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20466, writes 0 timeouts 0
2025-04-24 12:00:15 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36277/37179
2025-04-24 12:00:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:15 [info] currentZPosition:0.168
2025-04-24 12:00:15 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:16 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:16 [debug] Diagnostics for board 50:
2025-04-24 12:00:16 [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 12:00:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:21 ago, cause: software
2025-04-24 12:00:16 [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 12:00:16 [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 12:00:16 [debug] Moves scheduled 22472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6637, max=17045
Sync err accum 77, peak jitter -1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:16 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 21387, writes 0 timeouts 0
2025-04-24 12:00:16 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36100/37173
2025-04-24 12:00:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:17 [info] currentZPosition:0.167
2025-04-24 12:00:18 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:18 [debug] Diagnostics for board 50:
2025-04-24 12:00:18 [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 12:00:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:23 ago, cause: software
2025-04-24 12:00:18 [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 12:00:18 [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 12:00:18 [debug] Moves scheduled 22476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 88, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:18 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16515, writes 0 timeouts 0
2025-04-24 12:00:18 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36404/37167
2025-04-24 12:00:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:18 [info] currentZPosition:0.167
2025-04-24 12:00:19 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:19 [debug] Diagnostics for board 50:
2025-04-24 12:00:19 [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 12:00:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:24 ago, cause: software
2025-04-24 12:00:19 [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 12:00:19 [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 12:00:19 [debug] Moves scheduled 22480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=7009, max=18292
Sync err accum 95, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:19 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16623, writes 0 timeouts 0
2025-04-24 12:00:19 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37171
2025-04-24 12:00:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:19 [info] currentZPosition:0.169
2025-04-24 12:00:20 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:21 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:21 [debug] Diagnostics for board 50:
2025-04-24 12:00:21 [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 12:00:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:26 ago, cause: software
2025-04-24 12:00:21 [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 12:00:21 [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 12:00:21 [debug] Moves scheduled 22486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 101, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:21 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21005, writes 0 timeouts 0
2025-04-24 12:00:21 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37176
2025-04-24 12:00:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:21 [info] currentZPosition:0.168
2025-04-24 12:00:21 [debug] Stopped at height 0.166 mm
2025-04-24 12:00:22 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:22 [debug] Diagnostics for board 50:
2025-04-24 12:00:22 [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 12:00:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:27 ago, cause: software
2025-04-24 12:00:22 [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 12:00:22 [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 12:00:22 [debug] Moves scheduled 22492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:22 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20691, writes 0 timeouts 0
2025-04-24 12:00:22 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37175
2025-04-24 12:00:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:23 [info] currentZPosition:0.169
2025-04-24 12:00:23 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:24 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:24 [debug] Diagnostics for board 50:
2025-04-24 12:00:24 [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 12:00:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:29 ago, cause: software
2025-04-24 12:00:24 [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 12:00:24 [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 12:00:24 [debug] Moves scheduled 22498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6880, max=17441
Sync err accum 107, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:24 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20905, writes 0 timeouts 0
2025-04-24 12:00:24 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36398/37177
2025-04-24 12:00:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:24 [info] currentZPosition:0.168
2025-04-24 12:00:25 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:25 [debug] Diagnostics for board 50:
2025-04-24 12:00:25 [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 12:00:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:30 ago, cause: software
2025-04-24 12:00:25 [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 12:00:25 [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 12:00:25 [debug] Moves scheduled 22502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 104, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:25 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16962, writes 0 timeouts 0
2025-04-24 12:00:25 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37176
2025-04-24 12:00:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:26 [info] currentZPosition:0.169
2025-04-24 12:00:27 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:27 [debug] Diagnostics for board 50:
2025-04-24 12:00:27 [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 12:00:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:32 ago, cause: software
2025-04-24 12:00:27 [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 12:00:27 [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 12:00:27 [debug] Moves scheduled 22506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 101, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:27 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16800, writes 0 timeouts 0
2025-04-24 12:00:27 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37176
2025-04-24 12:00:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:27 [info] currentZPosition:0.168
2025-04-24 12:00:28 [debug] Stopped at height 0.170 mm
2025-04-24 12:00:28 [debug] Diagnostics for board 50:
2025-04-24 12:00:28 [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 12:00:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:33 ago, cause: software
2025-04-24 12:00:28 [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 12:00:28 [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 12:00:28 [debug] Moves scheduled 22510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17857
Sync err accum 95, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:28 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min 0, mspos 1016, reads 16816, writes 0 timeouts 0
2025-04-24 12:00:28 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36098/37178
2025-04-24 12:00:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:28 [info] currentZPosition:0.170
2025-04-24 12:00:29 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:30 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:30 [debug] Diagnostics for board 50:
2025-04-24 12:00:30 [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 12:00:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:35 ago, cause: software
2025-04-24 12:00:30 [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 12:00:30 [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 12:00:30 [debug] Moves scheduled 22516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 85, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:30 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20959, writes 0 timeouts 0
2025-04-24 12:00:30 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37176
2025-04-24 12:00:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:30 [info] currentZPosition:0.168
2025-04-24 12:00:31 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:31 [debug] Diagnostics for board 50:
2025-04-24 12:00:31 [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 12:00:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:36 ago, cause: software
2025-04-24 12:00:31 [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 12:00:31 [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 12:00:31 [debug] Moves scheduled 22520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=501, max=17045
Sync err accum 74, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:31 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16971, writes 11 timeouts 1
2025-04-24 12:00:31 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37179
2025-04-24 12:00:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:31 [info] currentZPosition:0.169
2025-04-24 12:00:33 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:33 [debug] Diagnostics for board 50:
2025-04-24 12:00:33 [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 12:00:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:37 ago, cause: software
2025-04-24 12:00:33 [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 12:00:33 [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 12:00:33 [debug] Moves scheduled 22524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
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 4294935557 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:33 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16627, writes 0 timeouts 0
2025-04-24 12:00:33 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37179
2025-04-24 12:00:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:33 [info] currentZPosition:0.169
2025-04-24 12:00:34 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:34 [debug] Diagnostics for board 50:
2025-04-24 12:00:34 [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 12:00:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:39 ago, cause: software
2025-04-24 12:00:34 [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 12:00:34 [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 12:00:34 [debug] Moves scheduled 22528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 72, peak jitter 0/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:34 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17100, writes 0 timeouts 0
2025-04-24 12:00:34 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37173
2025-04-24 12:00:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:34 [info] currentZPosition:0.169
2025-04-24 12:00:35 [debug] Stopped at height 0.170 mm
2025-04-24 12:00:35 [debug] Diagnostics for board 50:
2025-04-24 12:00:35 [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 12:00:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:40 ago, cause: software
2025-04-24 12:00:35 [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 12:00:35 [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 12:00:35 [debug] Moves scheduled 22532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6302, max=18292
Sync err accum 86, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:35 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min 0, mspos 984, reads 16288, writes 0 timeouts 0
2025-04-24 12:00:35 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37172
2025-04-24 12:00:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:35 [info] currentZPosition:0.170
2025-04-24 12:00:37 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:37 [debug] Diagnostics for board 50:
2025-04-24 12:00:37 [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 12:00:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:41 ago, cause: software
2025-04-24 12:00:37 [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 12:00:37 [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 12:00:37 [debug] Moves scheduled 22536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 99, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:00:37 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17615, writes 0 timeouts 0
2025-04-24 12:00:37 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 12:00:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:37 [info] currentZPosition:0.169
2025-04-24 12:00:38 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:38 [debug] Diagnostics for board 50:
2025-04-24 12:00:38 [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 12:00:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:43 ago, cause: software
2025-04-24 12:00:38 [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 12:00:38 [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 12:00:38 [debug] Moves scheduled 22540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 108, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:38 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16887, writes 0 timeouts 0
2025-04-24 12:00:38 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37175
2025-04-24 12:00:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:38 [info] currentZPosition:0.168
2025-04-24 12:00:39 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:39 [debug] Diagnostics for board 50:
2025-04-24 12:00:39 [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 12:00:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:44 ago, cause: software
2025-04-24 12:00:39 [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 12:00:39 [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 12:00:39 [debug] Moves scheduled 22544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 118, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:39 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17079, writes 0 timeouts 0
2025-04-24 12:00:39 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37176
2025-04-24 12:00:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:39 [info] currentZPosition:0.169
2025-04-24 12:00:41 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:41 [debug] Diagnostics for board 50:
2025-04-24 12:00:41 [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 12:00:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:45 ago, cause: software
2025-04-24 12:00:41 [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 12:00:41 [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 12:00:41 [debug] Moves scheduled 22548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 125, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:41 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16688, writes 0 timeouts 0
2025-04-24 12:00:41 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36378/37173
2025-04-24 12:00:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:41 [info] currentZPosition:0.168
2025-04-24 12:00:42 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:42 [debug] Diagnostics for board 50:
2025-04-24 12:00:42 [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 12:00:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:47 ago, cause: software
2025-04-24 12:00:42 [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 12:00:42 [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 12:00:42 [debug] Moves scheduled 22552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 123, peak jitter -2/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:42 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17066, writes 0 timeouts 0
2025-04-24 12:00:42 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37177
2025-04-24 12:00:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:42 [info] currentZPosition:0.169
2025-04-24 12:00:43 [debug] Stopped at height 0.170 mm
2025-04-24 12:00:43 [debug] Diagnostics for board 50:
2025-04-24 12:00:43 [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 12:00:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:48 ago, cause: software
2025-04-24 12:00:43 [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 12:00:43 [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 12:00:43 [debug] Moves scheduled 22556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 113, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:00:43 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16332, writes 0 timeouts 0
2025-04-24 12:00:43 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36405/37172
2025-04-24 12:00:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:43 [info] currentZPosition:0.170
2025-04-24 12:00:45 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:45 [debug] Diagnostics for board 50:
2025-04-24 12:00:45 [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 12:00:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:50 ago, cause: software
2025-04-24 12:00:45 [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 12:00:45 [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 12:00:45 [debug] Moves scheduled 22560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 98, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:45 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 18020, writes 0 timeouts 0
2025-04-24 12:00:45 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36113/37179
2025-04-24 12:00:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:45 [info] currentZPosition:0.167
2025-04-24 12:00:45 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:46 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:46 [debug] Diagnostics for board 50:
2025-04-24 12:00:46 [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 12:00:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:51 ago, cause: software
2025-04-24 12:00:46 [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 12:00:46 [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 12:00:46 [debug] Moves scheduled 22566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 80, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:46 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 19840, writes 0 timeouts 0
2025-04-24 12:00:46 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 287, adv 36404/37179
2025-04-24 12:00:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:46 [info] currentZPosition:0.169
2025-04-24 12:00:48 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:48 [debug] Diagnostics for board 50:
2025-04-24 12:00:48 [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 12:00:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:53 ago, cause: software
2025-04-24 12:00:48 [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 12:00:48 [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 12:00:48 [debug] Moves scheduled 22570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 64, peak jitter -4/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:48 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17616, writes 0 timeouts 0
2025-04-24 12:00:48 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37181
2025-04-24 12:00:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:48 [info] currentZPosition:0.168
2025-04-24 12:00:48 [debug] Stopped at height 0.170 mm
2025-04-24 12:00:49 [debug] Stopped at height 0.167 mm
2025-04-24 12:00:49 [debug] Diagnostics for board 50:
2025-04-24 12:00:49 [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 12:00:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:54 ago, cause: software
2025-04-24 12:00:49 [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 12:00:49 [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 12:00:49 [debug] Moves scheduled 22576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:49 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20569, writes 0 timeouts 0
2025-04-24 12:00:49 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37179
2025-04-24 12:00:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:49 [info] currentZPosition:0.167
2025-04-24 12:00:50 [debug] Stopped at height 0.170 mm
2025-04-24 12:00:51 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:51 [debug] Diagnostics for board 50:
2025-04-24 12:00:51 [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 12:00:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:56 ago, cause: software
2025-04-24 12:00:51 [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 12:00:51 [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 12:00:51 [debug] Moves scheduled 22582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:00:51 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20631, writes 0 timeouts 0
2025-04-24 12:00:51 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37175
2025-04-24 12:00:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:51 [info] currentZPosition:0.169
2025-04-24 12:00:51 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:53 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:53 [debug] Diagnostics for board 50:
2025-04-24 12:00:53 [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 12:00:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:58 ago, cause: software
2025-04-24 12:00:53 [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 12:00:53 [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 12:00:53 [debug] Moves scheduled 22588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:53 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20393, writes 0 timeouts 0
2025-04-24 12:00:53 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36403/37176
2025-04-24 12:00:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:53 [info] currentZPosition:0.169
2025-04-24 12:00:54 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:54 [debug] Diagnostics for board 50:
2025-04-24 12:00:54 [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 12:00:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:02:59 ago, cause: software
2025-04-24 12:00:54 [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 12:00:54 [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 12:00:54 [debug] Moves scheduled 22592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:54 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17241, writes 0 timeouts 0
2025-04-24 12:00:54 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36110/37178
2025-04-24 12:00:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:54 [info] currentZPosition:0.169
2025-04-24 12:00:55 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:55 [debug] Diagnostics for board 50:
2025-04-24 12:00:55 [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 12:00:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:00 ago, cause: software
2025-04-24 12:00:55 [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 12:00:55 [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 12:00:55 [debug] Moves scheduled 22596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=9, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:00:55 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16543, writes 0 timeouts 0
2025-04-24 12:00:55 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36400/37177
2025-04-24 12:00:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:55 [info] currentZPosition:0.169
2025-04-24 12:00:57 [debug] Stopped at height 0.169 mm
2025-04-24 12:00:57 [debug] Diagnostics for board 50:
2025-04-24 12:00:57 [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 12:00:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:02 ago, cause: software
2025-04-24 12:00:57 [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 12:00:57 [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 12:00:57 [debug] Moves scheduled 22600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17857
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294929576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:00:57 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17456, writes 0 timeouts 0
2025-04-24 12:00:57 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 12:00:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:57 [info] currentZPosition:0.169
2025-04-24 12:00:58 [debug] Stopped at height 0.168 mm
2025-04-24 12:00:58 [debug] Diagnostics for board 50:
2025-04-24 12:00:58 [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 12:00:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:03 ago, cause: software
2025-04-24 12:00:58 [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 12:00:58 [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 12:00:58 [debug] Moves scheduled 22604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17857
Sync err accum 73, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:00:58 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16866, writes 0 timeouts 0
2025-04-24 12:00:58 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36381/37174
2025-04-24 12:00:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:00:58 [info] currentZPosition:0.168
2025-04-24 12:01:00 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:00 [debug] Diagnostics for board 50:
2025-04-24 12:01:00 [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 12:01:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:04 ago, cause: software
2025-04-24 12:01:00 [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 12:01:00 [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 12:01:00 [debug] Moves scheduled 22608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17857
Sync err accum 71, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:00 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16718, writes 0 timeouts 0
2025-04-24 12:01:00 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37170
2025-04-24 12:01:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:00 [info] currentZPosition:0.169
2025-04-24 12:01:00 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:01 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:01 [debug] Diagnostics for board 50:
2025-04-24 12:01:01 [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 12:01:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:06 ago, cause: software
2025-04-24 12:01:01 [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 12:01:01 [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 12:01:01 [debug] Moves scheduled 22614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=677, max=17045
Sync err accum 68, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:01 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20254, writes 11 timeouts 1
2025-04-24 12:01:01 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36402/37177
2025-04-24 12:01:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:01 [info] currentZPosition:0.170
2025-04-24 12:01:02 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:03 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:03 [debug] Diagnostics for board 50:
2025-04-24 12:01:03 [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 12:01:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:08 ago, cause: software
2025-04-24 12:01:03 [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 12:01:03 [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 12:01:03 [debug] Moves scheduled 22620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:03 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 21700, writes 0 timeouts 0
2025-04-24 12:01:03 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37177
2025-04-24 12:01:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:03 [info] currentZPosition:0.168
2025-04-24 12:01:04 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:04 [debug] Diagnostics for board 50:
2025-04-24 12:01:04 [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 12:01:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:09 ago, cause: software
2025-04-24 12:01:04 [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 12:01:04 [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 12:01:04 [debug] Moves scheduled 22624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17857
Sync err accum 72, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:04 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16650, writes 0 timeouts 0
2025-04-24 12:01:04 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37173
2025-04-24 12:01:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:04 [info] currentZPosition:0.168
2025-04-24 12:01:06 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:06 [debug] Diagnostics for board 50:
2025-04-24 12:01:06 [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 12:01:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:10 ago, cause: software
2025-04-24 12:01:06 [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 12:01:06 [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 12:01:06 [debug] Moves scheduled 22628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:06 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16767, writes 0 timeouts 0
2025-04-24 12:01:06 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37174
2025-04-24 12:01:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:06 [info] currentZPosition:0.169
2025-04-24 12:01:06 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:07 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:07 [debug] Diagnostics for board 50:
2025-04-24 12:01:07 [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 12:01:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:12 ago, cause: software
2025-04-24 12:01:07 [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 12:01:07 [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 12:01:07 [debug] Moves scheduled 22634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 84, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:07 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20533, writes 0 timeouts 0
2025-04-24 12:01:07 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37177
2025-04-24 12:01:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:07 [info] currentZPosition:0.170
2025-04-24 12:01:08 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:09 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:09 [debug] Diagnostics for board 50:
2025-04-24 12:01:09 [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 12:01:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:14 ago, cause: software
2025-04-24 12:01:09 [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 12:01:09 [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 12:01:09 [debug] Moves scheduled 22640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=18292
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 4294935394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:09 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 21336, writes 0 timeouts 0
2025-04-24 12:01:09 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37175
2025-04-24 12:01:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:09 [info] currentZPosition:0.169
2025-04-24 12:01:10 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:10 [debug] Diagnostics for board 50:
2025-04-24 12:01:10 [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 12:01:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:15 ago, cause: software
2025-04-24 12:01:10 [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 12:01:10 [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 12:01:10 [debug] Moves scheduled 22644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:10 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16319, writes 0 timeouts 0
2025-04-24 12:01:10 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36284/37173
2025-04-24 12:01:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:10 [info] currentZPosition:0.169
2025-04-24 12:01:12 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:12 [debug] Diagnostics for board 50:
2025-04-24 12:01:12 [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 12:01:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:16 ago, cause: software
2025-04-24 12:01:12 [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 12:01:12 [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 12:01:12 [debug] Moves scheduled 22648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:12 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17243, writes 0 timeouts 0
2025-04-24 12:01:12 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37177
2025-04-24 12:01:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:12 [info] currentZPosition:0.169
2025-04-24 12:01:13 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:13 [debug] Diagnostics for board 50:
2025-04-24 12:01:13 [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 12:01:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:18 ago, cause: software
2025-04-24 12:01:13 [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 12:01:13 [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 12:01:13 [debug] Moves scheduled 22652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:13 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16508, writes 0 timeouts 0
2025-04-24 12:01:13 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36166/37177
2025-04-24 12:01:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:13 [info] currentZPosition:0.170
2025-04-24 12:01:14 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:14 [debug] Diagnostics for board 50:
2025-04-24 12:01:14 [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 12:01:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:19 ago, cause: software
2025-04-24 12:01:14 [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 12:01:14 [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 12:01:14 [debug] Moves scheduled 22656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6880, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:14 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 17056, writes 0 timeouts 0
2025-04-24 12:01:14 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36109/37174
2025-04-24 12:01:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:14 [info] currentZPosition:0.170
2025-04-24 12:01:16 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:16 [debug] Diagnostics for board 50:
2025-04-24 12:01:16 [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 12:01:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:20 ago, cause: software
2025-04-24 12:01:16 [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 12:01:16 [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 12:01:16 [debug] Moves scheduled 22660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:16 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16912, writes 0 timeouts 0
2025-04-24 12:01:16 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36168/37176
2025-04-24 12:01:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:16 [info] currentZPosition:0.169
2025-04-24 12:01:17 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:17 [debug] Diagnostics for board 50:
2025-04-24 12:01:17 [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 12:01:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:22 ago, cause: software
2025-04-24 12:01:17 [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 12:01:17 [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 12:01:17 [debug] Moves scheduled 22664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6521, max=17045
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:17 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16929, writes 0 timeouts 0
2025-04-24 12:01:17 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37177
2025-04-24 12:01:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:17 [info] currentZPosition:0.170
2025-04-24 12:01:18 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:18 [debug] Diagnostics for board 50:
2025-04-24 12:01:18 [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 12:01:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:23 ago, cause: software
2025-04-24 12:01:18 [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 12:01:18 [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 12:01:18 [debug] Moves scheduled 22668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 75, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:18 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16334, writes 0 timeouts 0
2025-04-24 12:01:18 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36164/37177
2025-04-24 12:01:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:18 [info] currentZPosition:0.170
2025-04-24 12:01:20 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:20 [debug] Diagnostics for board 50:
2025-04-24 12:01:20 [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 12:01:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:03:24 ago, cause: software
2025-04-24 12:01:20 [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 12:01:20 [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 12:01:20 [debug] Moves scheduled 22672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:20 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17364, writes 0 timeouts 0
2025-04-24 12:01:20 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36095/37173
2025-04-24 12:01:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:20 [info] currentZPosition:0.170
2025-04-24 12:01:21 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:21 [debug] Diagnostics for board 50:
2025-04-24 12:01:21 [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 12:01:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:26 ago, cause: software
2025-04-24 12:01:21 [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 12:01:21 [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 12:01:21 [debug] Moves scheduled 22676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6147, max=18292
Sync err accum 80, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:21 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16535, writes 0 timeouts 0
2025-04-24 12:01:21 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37173
2025-04-24 12:01:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:21 [info] currentZPosition:0.170
2025-04-24 12:01:22 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:22 [debug] Diagnostics for board 50:
2025-04-24 12:01:22 [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 12:01:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:27 ago, cause: software
2025-04-24 12:01:22 [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 12:01:22 [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 12:01:22 [debug] Moves scheduled 22680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 84, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:22 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min 0, mspos 40, reads 17086, writes 0 timeouts 0
2025-04-24 12:01:22 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37176
2025-04-24 12:01:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:22 [info] currentZPosition:0.170
2025-04-24 12:01:24 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:24 [debug] Diagnostics for board 50:
2025-04-24 12:01:24 [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 12:01:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:29 ago, cause: software
2025-04-24 12:01:24 [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 12:01:24 [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 12:01:24 [debug] Moves scheduled 22684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6637, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:24 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16877, writes 0 timeouts 0
2025-04-24 12:01:24 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37173
2025-04-24 12:01:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:24 [info] currentZPosition:0.169
2025-04-24 12:01:25 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:25 [debug] Diagnostics for board 50:
2025-04-24 12:01:25 [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 12:01:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:30 ago, cause: software
2025-04-24 12:01:25 [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 12:01:25 [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 12:01:25 [debug] Moves scheduled 22688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:25 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17206, writes 0 timeouts 0
2025-04-24 12:01:25 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37171
2025-04-24 12:01:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:25 [info] currentZPosition:0.169
2025-04-24 12:01:26 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:26 [debug] Diagnostics for board 50:
2025-04-24 12:01:26 [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 12:01:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:31 ago, cause: software
2025-04-24 12:01:26 [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 12:01:26 [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 12:01:26 [debug] Moves scheduled 22692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:26 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16492, writes 0 timeouts 0
2025-04-24 12:01:26 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37172
2025-04-24 12:01:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:26 [info] currentZPosition:0.170
2025-04-24 12:01:28 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:28 [debug] Diagnostics for board 50:
2025-04-24 12:01:28 [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 12:01:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:03:33 ago, cause: software
2025-04-24 12:01:28 [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 12:01:28 [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 12:01:28 [debug] Moves scheduled 22696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:28 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17285, writes 0 timeouts 0
2025-04-24 12:01:28 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37175
2025-04-24 12:01:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:28 [info] currentZPosition:0.169
2025-04-24 12:01:29 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:29 [debug] Diagnostics for board 50:
2025-04-24 12:01:29 [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 12:01:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:34 ago, cause: software
2025-04-24 12:01:29 [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 12:01:29 [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 12:01:29 [debug] Moves scheduled 22700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 73, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:29 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16437, writes 0 timeouts 0
2025-04-24 12:01:29 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36160/37173
2025-04-24 12:01:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:29 [info] currentZPosition:0.170
2025-04-24 12:01:30 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:30 [debug] Diagnostics for board 50:
2025-04-24 12:01:30 [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 12:01:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:35 ago, cause: software
2025-04-24 12:01:30 [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 12:01:30 [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 12:01:30 [debug] Moves scheduled 22704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:30 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17298, writes 0 timeouts 0
2025-04-24 12:01:30 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37172
2025-04-24 12:01:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:31 [info] currentZPosition:0.169
2025-04-24 12:01:32 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:32 [debug] Diagnostics for board 50:
2025-04-24 12:01:32 [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 12:01:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:37 ago, cause: software
2025-04-24 12:01:32 [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 12:01:32 [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 12:01:32 [debug] Moves scheduled 22708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 96, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:32 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16749, writes 0 timeouts 0
2025-04-24 12:01:32 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37173
2025-04-24 12:01:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:32 [info] currentZPosition:0.169
2025-04-24 12:01:33 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:33 [debug] Diagnostics for board 50:
2025-04-24 12:01:33 [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 12:01:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:38 ago, cause: software
2025-04-24 12:01:33 [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 12:01:33 [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 12:01:33 [debug] Moves scheduled 22712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 105, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:33 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16920, writes 0 timeouts 0
2025-04-24 12:01:33 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36097/37174
2025-04-24 12:01:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:33 [info] currentZPosition:0.170
2025-04-24 12:01:35 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:35 [debug] Diagnostics for board 50:
2025-04-24 12:01:35 [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 12:01:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:39 ago, cause: software
2025-04-24 12:01:35 [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 12:01:35 [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 12:01:35 [debug] Moves scheduled 22716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 109, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:35 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16863, writes 0 timeouts 0
2025-04-24 12:01:35 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37173
2025-04-24 12:01:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:35 [info] currentZPosition:0.169
2025-04-24 12:01:36 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:36 [debug] Diagnostics for board 50:
2025-04-24 12:01:36 [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 12:01:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:41 ago, cause: software
2025-04-24 12:01:36 [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 12:01:36 [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 12:01:36 [debug] Moves scheduled 22720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 114, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:36 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16908, writes 0 timeouts 0
2025-04-24 12:01:36 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37173
2025-04-24 12:01:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:36 [info] currentZPosition:0.170
2025-04-24 12:01:37 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:37 [debug] Diagnostics for board 50:
2025-04-24 12:01:37 [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 12:01:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:42 ago, cause: software
2025-04-24 12:01:37 [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 12:01:37 [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 12:01:37 [debug] Moves scheduled 22724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 115, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:37 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16410, writes 0 timeouts 0
2025-04-24 12:01:37 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37174
2025-04-24 12:01:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:37 [info] currentZPosition:0.170
2025-04-24 12:01:39 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:39 [debug] Diagnostics for board 50:
2025-04-24 12:01:39 [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 12:01:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:43 ago, cause: software
2025-04-24 12:01:39 [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 12:01:39 [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 12:01:39 [debug] Moves scheduled 22728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 115, peak jitter 0/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:39 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17274, writes 0 timeouts 0
2025-04-24 12:01:39 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37175
2025-04-24 12:01:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:39 [info] currentZPosition:0.170
2025-04-24 12:01:40 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:40 [debug] Diagnostics for board 50:
2025-04-24 12:01:40 [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 12:01:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:45 ago, cause: software
2025-04-24 12:01:40 [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 12:01:40 [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 12:01:40 [debug] Moves scheduled 22732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=5813, max=18292
Sync err accum 113, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:01:40 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16758, writes 0 timeouts 0
2025-04-24 12:01:40 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36168/37177
2025-04-24 12:01:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:40 [info] currentZPosition:0.169
2025-04-24 12:01:41 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:41 [debug] Diagnostics for board 50:
2025-04-24 12:01:41 [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 12:01:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:46 ago, cause: software
2025-04-24 12:01:41 [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 12:01:41 [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 12:01:41 [debug] Moves scheduled 22736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 106, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:01:41 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17505, writes 0 timeouts 0
2025-04-24 12:01:41 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36097/37172
2025-04-24 12:01:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:41 [info] currentZPosition:0.168
2025-04-24 12:01:43 [debug] Stopped at height 0.168 mm
2025-04-24 12:01:43 [debug] Diagnostics for board 50:
2025-04-24 12:01:43 [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 12:01:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:47 ago, cause: software
2025-04-24 12:01:43 [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 12:01:43 [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 12:01:43 [debug] Moves scheduled 22740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6250, max=17045
Sync err accum 98, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:01:43 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16652, writes 0 timeouts 0
2025-04-24 12:01:43 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37176
2025-04-24 12:01:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:43 [info] currentZPosition:0.168
2025-04-24 12:01:44 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:44 [debug] Diagnostics for board 50:
2025-04-24 12:01:44 [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 12:01:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:49 ago, cause: software
2025-04-24 12:01:44 [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 12:01:44 [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 12:01:44 [debug] Moves scheduled 22744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 89, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:01:44 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16598, writes 0 timeouts 0
2025-04-24 12:01:44 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36113/37174
2025-04-24 12:01:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:44 [info] currentZPosition:0.170
2025-04-24 12:01:44 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:46 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:46 [debug] Diagnostics for board 50:
2025-04-24 12:01:46 [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 12:01:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:50 ago, cause: software
2025-04-24 12:01:46 [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 12:01:46 [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 12:01:46 [debug] Moves scheduled 22750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 70, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:01:46 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20734, writes 0 timeouts 0
2025-04-24 12:01:46 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37177
2025-04-24 12:01:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:46 [info] currentZPosition:0.169
2025-04-24 12:01:47 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:47 [debug] Diagnostics for board 50:
2025-04-24 12:01:47 [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 12:01:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:52 ago, cause: software
2025-04-24 12:01:47 [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 12:01:47 [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 12:01:47 [debug] Moves scheduled 22754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17045
Sync err accum 65, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:47 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17010, writes 0 timeouts 0
2025-04-24 12:01:47 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37176
2025-04-24 12:01:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:47 [info] currentZPosition:0.170
2025-04-24 12:01:48 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:48 [debug] Diagnostics for board 50:
2025-04-24 12:01:48 [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 12:01:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:53 ago, cause: software
2025-04-24 12:01:48 [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 12:01:48 [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 12:01:48 [debug] Moves scheduled 22758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 76, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:48 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16646, writes 0 timeouts 0
2025-04-24 12:01:48 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37173
2025-04-24 12:01:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:48 [info] currentZPosition:0.170
2025-04-24 12:01:50 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:50 [debug] Diagnostics for board 50:
2025-04-24 12:01:50 [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 12:01:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:55 ago, cause: software
2025-04-24 12:01:50 [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 12:01:50 [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 12:01:50 [debug] Moves scheduled 22762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:01:50 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 16985, writes 0 timeouts 0
2025-04-24 12:01:50 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36095/37175
2025-04-24 12:01:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:50 [info] currentZPosition:0.170
2025-04-24 12:01:51 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:51 [debug] Diagnostics for board 50:
2025-04-24 12:01:51 [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 12:01:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:56 ago, cause: software
2025-04-24 12:01:51 [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 12:01:51 [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 12:01:51 [debug] Moves scheduled 22766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:51 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16661, writes 0 timeouts 0
2025-04-24 12:01:51 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37175
2025-04-24 12:01:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:51 [info] currentZPosition:0.170
2025-04-24 12:01:52 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:52 [debug] Diagnostics for board 50:
2025-04-24 12:01:52 [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 12:01:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:57 ago, cause: software
2025-04-24 12:01:52 [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 12:01:52 [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 12:01:52 [debug] Moves scheduled 22770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5905, max=17857
Sync err accum 91, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:52 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 17049, writes 0 timeouts 0
2025-04-24 12:01:52 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37177
2025-04-24 12:01:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:52 [info] currentZPosition:0.170
2025-04-24 12:01:54 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:54 [debug] Diagnostics for board 50:
2025-04-24 12:01:54 [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 12:01:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:03:59 ago, cause: software
2025-04-24 12:01:54 [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 12:01:54 [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 12:01:54 [debug] Moves scheduled 22774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:54 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16836, writes 0 timeouts 0
2025-04-24 12:01:54 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36168/37174
2025-04-24 12:01:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:54 [info] currentZPosition:0.170
2025-04-24 12:01:55 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:55 [debug] Diagnostics for board 50:
2025-04-24 12:01:55 [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 12:01:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:00 ago, cause: software
2025-04-24 12:01:55 [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 12:01:55 [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 12:01:55 [debug] Moves scheduled 22778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 89, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:55 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17210, writes 0 timeouts 0
2025-04-24 12:01:55 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36110/37175
2025-04-24 12:01:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:55 [info] currentZPosition:0.170
2025-04-24 12:01:56 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:56 [debug] Diagnostics for board 50:
2025-04-24 12:01:56 [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 12:01:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:01 ago, cause: software
2025-04-24 12:01:56 [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 12:01:56 [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 12:01:56 [debug] Moves scheduled 22782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
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 4294933760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:56 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16563, writes 0 timeouts 0
2025-04-24 12:01:56 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36168/37177
2025-04-24 12:01:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:57 [info] currentZPosition:0.170
2025-04-24 12:01:58 [debug] Stopped at height 0.167 mm
2025-04-24 12:01:58 [debug] Diagnostics for board 50:
2025-04-24 12:01:58 [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 12:01:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:03 ago, cause: software
2025-04-24 12:01:58 [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 12:01:58 [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 12:01:58 [debug] Moves scheduled 22786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=7075, max=17857
Sync err accum 78, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294931764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:58 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17898, writes 0 timeouts 0
2025-04-24 12:01:58 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36113/37177
2025-04-24 12:01:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9219, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:01:58 [info] currentZPosition:0.167
2025-04-24 12:01:58 [debug] Stopped at height 0.170 mm
2025-04-24 12:01:59 [debug] Stopped at height 0.169 mm
2025-04-24 12:01:59 [debug] Diagnostics for board 50:
2025-04-24 12:01:59 [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 12:01:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:04 ago, cause: software
2025-04-24 12:01:59 [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 12:01:59 [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 12:01:59 [debug] Moves scheduled 22792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=18292
Sync err accum 68, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:01:59 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 19942, writes 0 timeouts 0
2025-04-24 12:01:59 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37176
2025-04-24 12:01:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:00 [info] currentZPosition:0.169
2025-04-24 12:02:01 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:01 [debug] Diagnostics for board 50:
2025-04-24 12:02:01 [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 12:02:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:06 ago, cause: software
2025-04-24 12:02:01 [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 12:02:01 [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 12:02:01 [debug] Moves scheduled 22796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6578, max=17045
Sync err accum 61, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:01 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17129, writes 0 timeouts 0
2025-04-24 12:02:01 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37178
2025-04-24 12:02:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:01 [info] currentZPosition:0.169
2025-04-24 12:02:02 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:02 [debug] Diagnostics for board 50:
2025-04-24 12:02:02 [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 12:02:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:07 ago, cause: software
2025-04-24 12:02:02 [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 12:02:02 [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 12:02:02 [debug] Moves scheduled 22800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6000, max=17045
Sync err accum 71, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:02 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16584, writes 0 timeouts 0
2025-04-24 12:02:02 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36281/37174
2025-04-24 12:02:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:02 [info] currentZPosition:0.169
2025-04-24 12:02:04 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:04 [debug] Diagnostics for board 50:
2025-04-24 12:02:04 [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 12:02:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:08 ago, cause: software
2025-04-24 12:02:04 [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 12:02:04 [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 12:02:04 [debug] Moves scheduled 22804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 78, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:04 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16931, writes 0 timeouts 0
2025-04-24 12:02:04 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36095/37172
2025-04-24 12:02:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:04 [info] currentZPosition:0.170
2025-04-24 12:02:05 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:05 [debug] Diagnostics for board 50:
2025-04-24 12:02:05 [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 12:02:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:10 ago, cause: software
2025-04-24 12:02:05 [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 12:02:05 [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 12:02:05 [debug] Moves scheduled 22808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:05 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16454, writes 0 timeouts 0
2025-04-24 12:02:05 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37172
2025-04-24 12:02:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:05 [info] currentZPosition:0.170
2025-04-24 12:02:06 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:06 [debug] Diagnostics for board 50:
2025-04-24 12:02:06 [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 12:02:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:11 ago, cause: software
2025-04-24 12:02:06 [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 12:02:06 [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 12:02:06 [debug] Moves scheduled 22812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17857
Sync err accum 88, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:06 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17251, writes 0 timeouts 0
2025-04-24 12:02:06 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36106/37175
2025-04-24 12:02:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:06 [info] currentZPosition:0.170
2025-04-24 12:02:08 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:08 [debug] Diagnostics for board 50:
2025-04-24 12:02:08 [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 12:02:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:12 ago, cause: software
2025-04-24 12:02:08 [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 12:02:08 [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 12:02:08 [debug] Moves scheduled 22816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6097, max=17857
Sync err accum 90, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:08 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16617, writes 0 timeouts 0
2025-04-24 12:02:08 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36400/37173
2025-04-24 12:02:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:08 [info] currentZPosition:0.170
2025-04-24 12:02:09 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:09 [debug] Diagnostics for board 50:
2025-04-24 12:02:09 [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 12:02:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:14 ago, cause: software
2025-04-24 12:02:09 [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 12:02:09 [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 12:02:09 [debug] Moves scheduled 22820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 90, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:09 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17499, writes 0 timeouts 0
2025-04-24 12:02:09 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37176
2025-04-24 12:02:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:09 [info] currentZPosition:0.169
2025-04-24 12:02:10 [debug] Stopped at height 0.168 mm
2025-04-24 12:02:10 [debug] Diagnostics for board 50:
2025-04-24 12:02:10 [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 12:02:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:15 ago, cause: software
2025-04-24 12:02:10 [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 12:02:10 [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 12:02:10 [debug] Moves scheduled 22824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:10 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17067, writes 0 timeouts 0
2025-04-24 12:02:10 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36395/37171
2025-04-24 12:02:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:10 [info] currentZPosition:0.168
2025-04-24 12:02:11 [debug] Stopped at height 0.166 mm
2025-04-24 12:02:12 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:12 [debug] Diagnostics for board 50:
2025-04-24 12:02:12 [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 12:02:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:17 ago, cause: software
2025-04-24 12:02:12 [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 12:02:12 [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 12:02:12 [debug] Moves scheduled 22830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 80, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294930491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:12 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20965, writes 0 timeouts 0
2025-04-24 12:02:12 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37177
2025-04-24 12:02:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:12 [info] currentZPosition:0.169
2025-04-24 12:02:12 [debug] Stopped at height 0.168 mm
2025-04-24 12:02:14 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:14 [debug] Diagnostics for board 50:
2025-04-24 12:02:14 [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 12:02:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:18 ago, cause: software
2025-04-24 12:02:14 [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 12:02:14 [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 12:02:14 [debug] Moves scheduled 22836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294927307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:14 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20293, writes 0 timeouts 0
2025-04-24 12:02:14 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37178
2025-04-24 12:02:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:14 [info] currentZPosition:0.170
2025-04-24 12:02:14 [debug] Stopped at height 0.168 mm
2025-04-24 12:02:15 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:15 [debug] Diagnostics for board 50:
2025-04-24 12:02:15 [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 12:02:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:04:20 ago, cause: software
2025-04-24 12:02:15 [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 12:02:15 [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 12:02:15 [debug] Moves scheduled 22842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 62, peak jitter -3/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:15 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 21135, writes 0 timeouts 0
2025-04-24 12:02:15 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37179
2025-04-24 12:02:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:15 [info] currentZPosition:0.170
2025-04-24 12:02:16 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:17 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:17 [debug] Diagnostics for board 50:
2025-04-24 12:02:17 [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 12:02:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:22 ago, cause: software
2025-04-24 12:02:17 [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 12:02:17 [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 12:02:17 [debug] Moves scheduled 22848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 73, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:17 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20251, writes 0 timeouts 0
2025-04-24 12:02:17 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36400/37173
2025-04-24 12:02:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:17 [info] currentZPosition:0.171
2025-04-24 12:02:17 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:19 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:19 [debug] Diagnostics for board 50:
2025-04-24 12:02:19 [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 12:02:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:23 ago, cause: software
2025-04-24 12:02:19 [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 12:02:19 [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 12:02:19 [debug] Moves scheduled 22854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=18292
Sync err accum 87, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:19 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 21017, writes 0 timeouts 0
2025-04-24 12:02:19 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37171
2025-04-24 12:02:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:19 [info] currentZPosition:0.171
2025-04-24 12:02:19 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:20 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:20 [debug] Diagnostics for board 50:
2025-04-24 12:02:20 [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 12:02:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:25 ago, cause: software
2025-04-24 12:02:20 [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 12:02:20 [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 12:02:20 [debug] Moves scheduled 22860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 94, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:20 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 20433, writes 0 timeouts 0
2025-04-24 12:02:20 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36404/37172
2025-04-24 12:02:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:20 [info] currentZPosition:0.171
2025-04-24 12:02:21 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:22 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:22 [debug] Diagnostics for board 50:
2025-04-24 12:02:22 [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 12:02:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:27 ago, cause: software
2025-04-24 12:02:22 [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 12:02:22 [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 12:02:22 [debug] Moves scheduled 22866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 95, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:22 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20904, writes 0 timeouts 0
2025-04-24 12:02:22 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 12:02:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:22 [info] currentZPosition:0.171
2025-04-24 12:02:22 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:24 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:24 [debug] Diagnostics for board 50:
2025-04-24 12:02:24 [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 12:02:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:28 ago, cause: software
2025-04-24 12:02:24 [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 12:02:24 [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 12:02:24 [debug] Moves scheduled 22872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
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 4294936446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:24 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20638, writes 0 timeouts 0
2025-04-24 12:02:24 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36401/37176
2025-04-24 12:02:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:24 [info] currentZPosition:0.171
2025-04-24 12:02:25 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:25 [debug] Diagnostics for board 50:
2025-04-24 12:02:25 [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 12:02:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:30 ago, cause: software
2025-04-24 12:02:25 [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 12:02:25 [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 12:02:25 [debug] Moves scheduled 22876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:25 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17243, writes 0 timeouts 0
2025-04-24 12:02:25 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37170
2025-04-24 12:02:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:25 [info] currentZPosition:0.170
2025-04-24 12:02:26 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:26 [debug] Diagnostics for board 50:
2025-04-24 12:02:26 [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 12:02:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:31 ago, cause: software
2025-04-24 12:02:26 [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 12:02:26 [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 12:02:26 [debug] Moves scheduled 22880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 82, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:26 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16600, writes 0 timeouts 0
2025-04-24 12:02:26 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36398/37174
2025-04-24 12:02:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:26 [info] currentZPosition:0.171
2025-04-24 12:02:28 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:28 [debug] Diagnostics for board 50:
2025-04-24 12:02:28 [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 12:02:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:33 ago, cause: software
2025-04-24 12:02:28 [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 12:02:28 [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 12:02:28 [debug] Moves scheduled 22884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 75, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:28 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17349, writes 0 timeouts 0
2025-04-24 12:02:28 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36097/37175
2025-04-24 12:02:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:28 [info] currentZPosition:0.170
2025-04-24 12:02:29 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:29 [debug] Diagnostics for board 50:
2025-04-24 12:02:29 [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 12:02:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:34 ago, cause: software
2025-04-24 12:02:29 [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 12:02:29 [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 12:02:29 [debug] Moves scheduled 22888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17857
Sync err accum 66, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:29 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16544, writes 0 timeouts 0
2025-04-24 12:02:29 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36406/37177
2025-04-24 12:02:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:29 [info] currentZPosition:0.171
2025-04-24 12:02:30 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:30 [debug] Diagnostics for board 50:
2025-04-24 12:02:30 [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 12:02:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:35 ago, cause: software
2025-04-24 12:02:30 [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 12:02:30 [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 12:02:30 [debug] Moves scheduled 22892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17441
Sync err accum 64, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:30 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17017, writes 0 timeouts 0
2025-04-24 12:02:30 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36093/37177
2025-04-24 12:02:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:30 [info] currentZPosition:0.171
2025-04-24 12:02:32 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:32 [debug] Diagnostics for board 50:
2025-04-24 12:02:32 [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 12:02:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:37 ago, cause: software
2025-04-24 12:02:32 [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 12:02:32 [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 12:02:32 [debug] Moves scheduled 22896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
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 4294932020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:32 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16837, writes 0 timeouts 0
2025-04-24 12:02:32 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36414/37172
2025-04-24 12:02:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:32 [info] currentZPosition:0.170
2025-04-24 12:02:33 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:33 [debug] Diagnostics for board 50:
2025-04-24 12:02:33 [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 12:02:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:38 ago, cause: software
2025-04-24 12:02:33 [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 12:02:33 [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 12:02:33 [debug] Moves scheduled 22900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
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 4294928940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:33 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17074, writes 0 timeouts 0
2025-04-24 12:02:33 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37172
2025-04-24 12:02:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:33 [info] currentZPosition:0.171
2025-04-24 12:02:34 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:34 [debug] Diagnostics for board 50:
2025-04-24 12:02:34 [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 12:02:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:39 ago, cause: software
2025-04-24 12:02:34 [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 12:02:34 [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 12:02:34 [debug] Moves scheduled 22904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:34 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16609, writes 0 timeouts 0
2025-04-24 12:02:34 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36401/37175
2025-04-24 12:02:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:34 [info] currentZPosition:0.171
2025-04-24 12:02:36 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:36 [debug] Diagnostics for board 50:
2025-04-24 12:02:36 [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 12:02:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:41 ago, cause: software
2025-04-24 12:02:36 [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 12:02:36 [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 12:02:36 [debug] Moves scheduled 22908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 94, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:36 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17094, writes 0 timeouts 0
2025-04-24 12:02:36 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37174
2025-04-24 12:02:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:36 [info] currentZPosition:0.171
2025-04-24 12:02:37 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:37 [debug] Diagnostics for board 50:
2025-04-24 12:02:37 [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 12:02:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:42 ago, cause: software
2025-04-24 12:02:37 [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 12:02:37 [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 12:02:37 [debug] Moves scheduled 22912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17857
Sync err accum 94, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294928923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:37 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16917, writes 0 timeouts 0
2025-04-24 12:02:37 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37176
2025-04-24 12:02:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:37 [info] currentZPosition:0.171
2025-04-24 12:02:39 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:39 [debug] Diagnostics for board 50:
2025-04-24 12:02:39 [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 12:02:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:43 ago, cause: software
2025-04-24 12:02:39 [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 12:02:39 [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 12:02:39 [debug] Moves scheduled 22916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:39 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17194, writes 0 timeouts 0
2025-04-24 12:02:39 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37174
2025-04-24 12:02:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:39 [info] currentZPosition:0.171
2025-04-24 12:02:40 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:40 [debug] Diagnostics for board 50:
2025-04-24 12:02:40 [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 12:02:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:45 ago, cause: software
2025-04-24 12:02:40 [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 12:02:40 [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 12:02:40 [debug] Moves scheduled 22920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:40 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16405, writes 0 timeouts 0
2025-04-24 12:02:40 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36402/37176
2025-04-24 12:02:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:40 [info] currentZPosition:0.171
2025-04-24 12:02:41 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:41 [debug] Diagnostics for board 50:
2025-04-24 12:02:41 [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 12:02:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:46 ago, cause: software
2025-04-24 12:02:41 [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 12:02:41 [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 12:02:41 [debug] Moves scheduled 22924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17857
Sync err accum 85, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:41 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17244, writes 0 timeouts 0
2025-04-24 12:02:41 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37178
2025-04-24 12:02:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:41 [info] currentZPosition:0.171
2025-04-24 12:02:43 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:43 [debug] Diagnostics for board 50:
2025-04-24 12:02:43 [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 12:02:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:47 ago, cause: software
2025-04-24 12:02:43 [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 12:02:43 [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 12:02:43 [debug] Moves scheduled 22928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 76, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:43 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16695, writes 0 timeouts 0
2025-04-24 12:02:43 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36406/37173
2025-04-24 12:02:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:43 [info] currentZPosition:0.171
2025-04-24 12:02:44 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:44 [debug] Diagnostics for board 50:
2025-04-24 12:02:44 [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 12:02:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:04:49 ago, cause: software
2025-04-24 12:02:44 [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 12:02:44 [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 12:02:44 [debug] Moves scheduled 22932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 67, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:44 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17247, writes 0 timeouts 0
2025-04-24 12:02:44 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36112/37178
2025-04-24 12:02:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:44 [info] currentZPosition:0.171
2025-04-24 12:02:45 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:45 [debug] Diagnostics for board 50:
2025-04-24 12:02:45 [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 12:02:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:50 ago, cause: software
2025-04-24 12:02:45 [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 12:02:45 [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 12:02:45 [debug] Moves scheduled 22936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 59, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:45 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16491, writes 0 timeouts 0
2025-04-24 12:02:45 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36405/37177
2025-04-24 12:02:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:45 [info] currentZPosition:0.171
2025-04-24 12:02:47 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:47 [debug] Diagnostics for board 50:
2025-04-24 12:02:47 [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 12:02:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:51 ago, cause: software
2025-04-24 12:02:47 [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 12:02:47 [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 12:02:47 [debug] Moves scheduled 22940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6198, max=17857
Sync err accum 72, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:47 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 16984, writes 0 timeouts 0
2025-04-24 12:02:47 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 12:02:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:47 [info] currentZPosition:0.171
2025-04-24 12:02:48 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:48 [debug] Diagnostics for board 50:
2025-04-24 12:02:48 [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 12:02:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:53 ago, cause: software
2025-04-24 12:02:48 [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 12:02:48 [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 12:02:48 [debug] Moves scheduled 22944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 90, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:02:48 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17193, writes 0 timeouts 0
2025-04-24 12:02:48 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36401/37173
2025-04-24 12:02:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:48 [info] currentZPosition:0.170
2025-04-24 12:02:48 [debug] Stopped at height 0.172 mm
2025-04-24 12:02:50 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:50 [debug] Diagnostics for board 50:
2025-04-24 12:02:50 [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 12:02:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:54 ago, cause: software
2025-04-24 12:02:50 [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 12:02:50 [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 12:02:50 [debug] Moves scheduled 22950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17857
Sync err accum 103, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:50 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20763, writes 0 timeouts 0
2025-04-24 12:02:50 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37174
2025-04-24 12:02:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:50 [info] currentZPosition:0.170
2025-04-24 12:02:50 [debug] Stopped at height 0.169 mm
2025-04-24 12:02:51 [debug] Stopped at height 0.171 mm
2025-04-24 12:02:51 [debug] Diagnostics for board 50:
2025-04-24 12:02:51 [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 12:02:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:56 ago, cause: software
2025-04-24 12:02:51 [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 12:02:51 [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 12:02:51 [debug] Moves scheduled 22956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=17045
Sync err accum 114, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:51 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20415, writes 0 timeouts 0
2025-04-24 12:02:51 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 287, adv 36401/37171
2025-04-24 12:02:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:51 [info] currentZPosition:0.171
2025-04-24 12:02:52 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:53 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:53 [debug] Diagnostics for board 50:
2025-04-24 12:02:53 [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 12:02:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:58 ago, cause: software
2025-04-24 12:02:53 [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 12:02:53 [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 12:02:53 [debug] Moves scheduled 22962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17857
Sync err accum 123, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:53 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21288, writes 0 timeouts 0
2025-04-24 12:02:53 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 12:02:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:53 [info] currentZPosition:0.170
2025-04-24 12:02:54 [debug] Stopped at height 0.172 mm
2025-04-24 12:02:54 [debug] Diagnostics for board 50:
2025-04-24 12:02:54 [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 12:02:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:04:59 ago, cause: software
2025-04-24 12:02:54 [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 12:02:54 [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 12:02:54 [debug] Moves scheduled 22966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6944, max=17045
Sync err accum 125, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294935407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:54 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16225, writes 0 timeouts 0
2025-04-24 12:02:54 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36398/37172
2025-04-24 12:02:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:54 [info] currentZPosition:0.172
2025-04-24 12:02:56 [debug] Stopped at height 0.172 mm
2025-04-24 12:02:56 [debug] Diagnostics for board 50:
2025-04-24 12:02:56 [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 12:02:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:00 ago, cause: software
2025-04-24 12:02:56 [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 12:02:56 [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 12:02:56 [debug] Moves scheduled 22970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 128, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:02:56 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17200, writes 0 timeouts 0
2025-04-24 12:02:56 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37176
2025-04-24 12:02:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:56 [info] currentZPosition:0.172
2025-04-24 12:02:57 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:57 [debug] Diagnostics for board 50:
2025-04-24 12:02:57 [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 12:02:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:02 ago, cause: software
2025-04-24 12:02:57 [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 12:02:57 [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 12:02:57 [debug] Moves scheduled 22974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 117, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:57 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17122, writes 0 timeouts 0
2025-04-24 12:02:57 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36273/37176
2025-04-24 12:02:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:57 [info] currentZPosition:0.170
2025-04-24 12:02:57 [debug] Stopped at height 0.172 mm
2025-04-24 12:02:59 [debug] Stopped at height 0.170 mm
2025-04-24 12:02:59 [debug] Diagnostics for board 50:
2025-04-24 12:02:59 [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 12:02:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:04 ago, cause: software
2025-04-24 12:02:59 [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 12:02:59 [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 12:02:59 [debug] Moves scheduled 22980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 93, peak jitter -4/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:02:59 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 20975, writes 0 timeouts 0
2025-04-24 12:02:59 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 291, adv 36109/37178
2025-04-24 12:02:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:02:59 [info] currentZPosition:0.170
2025-04-24 12:02:59 [debug] Stopped at height 0.170 mm
2025-04-24 12:03:00 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:00 [debug] Diagnostics for board 50:
2025-04-24 12:03:00 [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 12:03:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:05 ago, cause: software
2025-04-24 12:03:00 [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 12:03:00 [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 12:03:00 [debug] Moves scheduled 22986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 75, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:00 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20325, writes 0 timeouts 0
2025-04-24 12:03:00 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37178
2025-04-24 12:03:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:00 [info] currentZPosition:0.171
2025-04-24 12:03:02 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:02 [debug] Diagnostics for board 50:
2025-04-24 12:03:02 [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 12:03:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:07 ago, cause: software
2025-04-24 12:03:02 [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 12:03:02 [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 12:03:02 [debug] Moves scheduled 22990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:02 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17121, writes 0 timeouts 0
2025-04-24 12:03:02 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36113/37177
2025-04-24 12:03:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:02 [info] currentZPosition:0.172
2025-04-24 12:03:03 [debug] Stopped at height 0.170 mm
2025-04-24 12:03:03 [debug] Diagnostics for board 50:
2025-04-24 12:03:03 [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 12:03:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:08 ago, cause: software
2025-04-24 12:03:03 [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 12:03:03 [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 12:03:03 [debug] Moves scheduled 22994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7142, max=17045
Sync err accum 69, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:03 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16958, writes 0 timeouts 0
2025-04-24 12:03:03 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36159/37175
2025-04-24 12:03:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:03 [info] currentZPosition:0.170
2025-04-24 12:03:04 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:04 [debug] Diagnostics for board 50:
2025-04-24 12:03:04 [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 12:03:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:09 ago, cause: software
2025-04-24 12:03:04 [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 12:03:04 [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 12:03:04 [debug] Moves scheduled 22998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967248 ticks, enabled, next step interrupt due in 4294935385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.
2025-04-24 12:03:04 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16710, writes 0 timeouts 0
2025-04-24 12:03:04 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37172
2025-04-24 12:03:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:04 [info] currentZPosition:0.172
2025-04-24 12:03:05 [debug] Stopped at height 0.169 mm
2025-04-24 12:03:06 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:06 [debug] Diagnostics for board 50:
2025-04-24 12:03:06 [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 12:03:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:11 ago, cause: software
2025-04-24 12:03:06 [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 12:03:06 [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 12:03:06 [debug] Moves scheduled 23004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:03:06 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20620, writes 0 timeouts 0
2025-04-24 12:03:06 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36146/37176
2025-04-24 12:03:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:06 [info] currentZPosition:0.171
2025-04-24 12:03:06 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:08 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:08 [debug] Diagnostics for board 50:
2025-04-24 12:03:08 [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 12:03:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:13 ago, cause: software
2025-04-24 12:03:08 [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 12:03:08 [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 12:03:08 [debug] Moves scheduled 23010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:03:08 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20968, writes 0 timeouts 0
2025-04-24 12:03:08 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37172
2025-04-24 12:03:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:08 [info] currentZPosition:0.172
2025-04-24 12:03:09 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:09 [debug] Diagnostics for board 50:
2025-04-24 12:03:09 [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 12:03:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:14 ago, cause: software
2025-04-24 12:03:09 [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 12:03:09 [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 12:03:09 [debug] Moves scheduled 23014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:09 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16519, writes 0 timeouts 0
2025-04-24 12:03:09 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36161/37175
2025-04-24 12:03:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:09 [info] currentZPosition:0.172
2025-04-24 12:03:10 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:10 [debug] Diagnostics for board 50:
2025-04-24 12:03:10 [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 12:03:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:15 ago, cause: software
2025-04-24 12:03:10 [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 12:03:10 [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 12:03:10 [debug] Moves scheduled 23018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:03:10 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 16930, writes 0 timeouts 0
2025-04-24 12:03:10 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37176
2025-04-24 12:03:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:10 [info] currentZPosition:0.173
2025-04-24 12:03:12 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:12 [debug] Diagnostics for board 50:
2025-04-24 12:03:12 [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 12:03:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:17 ago, cause: software
2025-04-24 12:03:12 [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 12:03:12 [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 12:03:12 [debug] Moves scheduled 23022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 101, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:12 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16995, writes 0 timeouts 0
2025-04-24 12:03:12 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37175
2025-04-24 12:03:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:12 [info] currentZPosition:0.171
2025-04-24 12:03:12 [debug] Stopped at height 0.170 mm
2025-04-24 12:03:13 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:13 [debug] Diagnostics for board 50:
2025-04-24 12:03:13 [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 12:03:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:18 ago, cause: software
2025-04-24 12:03:13 [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 12:03:13 [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 12:03:13 [debug] Moves scheduled 23028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 98, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294931485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:13 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 21085, writes 0 timeouts 0
2025-04-24 12:03:13 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36112/37175
2025-04-24 12:03:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:14 [info] currentZPosition:0.172
2025-04-24 12:03:14 [debug] Stopped at height 0.169 mm
2025-04-24 12:03:14 [debug] Stopped at height 0.169 mm
2025-04-24 12:03:15 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:15 [debug] Diagnostics for board 50:
2025-04-24 12:03:15 [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 12:03:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:20 ago, cause: software
2025-04-24 12:03:15 [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 12:03:15 [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 12:03:15 [debug] Moves scheduled 23036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 88, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:15 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 24759, writes 0 timeouts 0
2025-04-24 12:03:15 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36162/37177
2025-04-24 12:03:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:15 [info] currentZPosition:0.171
2025-04-24 12:03:16 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:17 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:17 [debug] Diagnostics for board 50:
2025-04-24 12:03:17 [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 12:03:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:22 ago, cause: software
2025-04-24 12:03:17 [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 12:03:17 [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 12:03:17 [debug] Moves scheduled 23042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=7009, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:03:17 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21058, writes 0 timeouts 0
2025-04-24 12:03:17 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37179
2025-04-24 12:03:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:17 [info] currentZPosition:0.171
2025-04-24 12:03:18 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:18 [debug] Diagnostics for board 50:
2025-04-24 12:03:18 [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 12:03:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:23 ago, cause: software
2025-04-24 12:03:18 [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 12:03:18 [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 12:03:18 [debug] Moves scheduled 23046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:18 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16794, writes 0 timeouts 0
2025-04-24 12:03:18 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37177
2025-04-24 12:03:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:19 [info] currentZPosition:0.171
2025-04-24 12:03:20 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:20 [debug] Diagnostics for board 50:
2025-04-24 12:03:20 [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 12:03:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:25 ago, cause: software
2025-04-24 12:03:20 [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 12:03:20 [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 12:03:20 [debug] Moves scheduled 23050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:20 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16862, writes 0 timeouts 0
2025-04-24 12:03:20 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37178
2025-04-24 12:03:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:20 [info] currentZPosition:0.172
2025-04-24 12:03:21 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:21 [debug] Diagnostics for board 50:
2025-04-24 12:03:21 [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 12:03:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:26 ago, cause: software
2025-04-24 12:03:21 [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 12:03:21 [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 12:03:21 [debug] Moves scheduled 23054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=18292
Sync err accum 82, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:03:21 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16732, writes 0 timeouts 0
2025-04-24 12:03:21 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37174
2025-04-24 12:03:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:21 [info] currentZPosition:0.171
2025-04-24 12:03:23 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:23 [debug] Diagnostics for board 50:
2025-04-24 12:03:23 [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 12:03:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:28 ago, cause: software
2025-04-24 12:03:23 [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 12:03:23 [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 12:03:23 [debug] Moves scheduled 23058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=18292
Sync err accum 100, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294667814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:23 [debug] Driver 0: pos -3519, 10060.2 steps/mm, standstill, SG min 0, mspos 216, reads 27791, writes 0 timeouts 0
2025-04-24 12:03:23 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 60, 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 288, adv 36104/37172
2025-04-24 12:03:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:24 [info] currentZPosition:0.172
2025-04-24 12:03:25 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:25 [debug] Diagnostics for board 50:
2025-04-24 12:03:25 [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 12:03:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:30 ago, cause: software
2025-04-24 12:03:25 [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 12:03:25 [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 12:03:25 [debug] Moves scheduled 23062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 114, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934651 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:25 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 19869, writes 0 timeouts 0
2025-04-24 12:03:25 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 285, adv 36161/37174
2025-04-24 12:03:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:25 [info] currentZPosition:0.172
2025-04-24 12:03:26 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:26 [debug] Diagnostics for board 50:
2025-04-24 12:03:26 [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 12:03:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:31 ago, cause: software
2025-04-24 12:03:26 [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 12:03:26 [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 12:03:26 [debug] Moves scheduled 23066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 119, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:26 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17206, writes 0 timeouts 0
2025-04-24 12:03:26 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36104/37171
2025-04-24 12:03:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:26 [info] currentZPosition:0.172
2025-04-24 12:03:28 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:28 [debug] Diagnostics for board 50:
2025-04-24 12:03:28 [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 12:03:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:32 ago, cause: software
2025-04-24 12:03:28 [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 12:03:28 [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 12:03:28 [debug] Moves scheduled 23070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 121, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:28 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16733, writes 0 timeouts 0
2025-04-24 12:03:28 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36164/37174
2025-04-24 12:03:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:28 [info] currentZPosition:0.172
2025-04-24 12:03:29 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:29 [debug] Diagnostics for board 50:
2025-04-24 12:03:29 [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 12:03:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:34 ago, cause: software
2025-04-24 12:03:29 [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 12:03:29 [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 12:03:29 [debug] Moves scheduled 23074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=18292
Sync err accum 120, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:29 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17362, writes 0 timeouts 0
2025-04-24 12:03:29 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36102/37174
2025-04-24 12:03:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:29 [info] currentZPosition:0.171
2025-04-24 12:03:30 [debug] Stopped at height 0.170 mm
2025-04-24 12:03:30 [debug] Diagnostics for board 50:
2025-04-24 12:03:30 [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 12:03:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:05:35 ago, cause: software
2025-04-24 12:03:30 [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 12:03:30 [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 12:03:30 [debug] Moves scheduled 23078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 119, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:30 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16866, writes 0 timeouts 0
2025-04-24 12:03:30 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37175
2025-04-24 12:03:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:30 [info] currentZPosition:0.170
2025-04-24 12:03:32 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:32 [debug] Diagnostics for board 50:
2025-04-24 12:03:32 [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 12:03:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:37 ago, cause: software
2025-04-24 12:03:32 [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 12:03:32 [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 12:03:32 [debug] Moves scheduled 23082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17857
Sync err accum 117, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:32 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16722, writes 0 timeouts 0
2025-04-24 12:03:32 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36098/37177
2025-04-24 12:03:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:32 [info] currentZPosition:0.172
2025-04-24 12:03:32 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:33 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:33 [debug] Diagnostics for board 50:
2025-04-24 12:03:33 [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 12:03:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:38 ago, cause: software
2025-04-24 12:03:33 [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 12:03:33 [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 12:03:33 [debug] Moves scheduled 23088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6521, max=17045
Sync err accum 111, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:03:33 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20267, writes 0 timeouts 0
2025-04-24 12:03:33 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37178
2025-04-24 12:03:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:33 [info] currentZPosition:0.173
2025-04-24 12:03:34 [debug] Stopped at height 0.171 mm
2025-04-24 12:03:35 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:35 [debug] Diagnostics for board 50:
2025-04-24 12:03:35 [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 12:03:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:40 ago, cause: software
2025-04-24 12:03:35 [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 12:03:35 [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 12:03:35 [debug] Moves scheduled 23094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 100, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:03:35 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 21011, writes 0 timeouts 0
2025-04-24 12:03:35 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36087/37175
2025-04-24 12:03:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:35 [info] currentZPosition:0.173
2025-04-24 12:03:35 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:37 [debug] Stopped at height 0.174 mm
2025-04-24 12:03:37 [debug] Diagnostics for board 50:
2025-04-24 12:03:37 [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 12:03:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:41 ago, cause: software
2025-04-24 12:03:37 [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 12:03:37 [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 12:03:37 [debug] Moves scheduled 23100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:37 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min 0, mspos 24, reads 20178, writes 0 timeouts 0
2025-04-24 12:03:37 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 286, adv 36168/37179
2025-04-24 12:03:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:37 [info] currentZPosition:0.174
2025-04-24 12:03:37 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:38 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:38 [debug] Diagnostics for board 50:
2025-04-24 12:03:38 [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 12:03:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:43 ago, cause: software
2025-04-24 12:03:38 [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 12:03:38 [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 12:03:38 [debug] Moves scheduled 23106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 74, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:38 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 21270, writes 0 timeouts 0
2025-04-24 12:03:38 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36111/37177
2025-04-24 12:03:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:38 [info] currentZPosition:0.173
2025-04-24 12:03:40 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:40 [debug] Diagnostics for board 50:
2025-04-24 12:03:40 [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 12:03:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:45 ago, cause: software
2025-04-24 12:03:40 [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 12:03:40 [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 12:03:40 [debug] Moves scheduled 23110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:40 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17003, writes 0 timeouts 0
2025-04-24 12:03:40 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37178
2025-04-24 12:03:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:40 [info] currentZPosition:0.172
2025-04-24 12:03:40 [debug] Stopped at height 0.170 mm
2025-04-24 12:03:41 [debug] Stopped at height 0.168 mm
2025-04-24 12:03:42 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:42 [debug] Diagnostics for board 50:
2025-04-24 12:03:42 [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 12:03:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:47 ago, cause: software
2025-04-24 12:03:42 [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 12:03:42 [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 12:03:42 [debug] Moves scheduled 23118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 79, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:03:42 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 24925, writes 0 timeouts 0
2025-04-24 12:03:42 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 287, adv 36107/37176
2025-04-24 12:03:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:42 [info] currentZPosition:0.173
2025-04-24 12:03:42 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:43 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:43 [debug] Diagnostics for board 50:
2025-04-24 12:03:43 [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 12:03:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:48 ago, cause: software
2025-04-24 12:03:43 [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 12:03:43 [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 12:03:43 [debug] Moves scheduled 23124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6147, max=17045
Sync err accum 96, peak jitter 1/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294929855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:43 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20926, writes 0 timeouts 0
2025-04-24 12:03:43 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36161/37173
2025-04-24 12:03:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:43 [info] currentZPosition:0.172
2025-04-24 12:03:44 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:45 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:45 [debug] Diagnostics for board 50:
2025-04-24 12:03:45 [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 12:03:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:50 ago, cause: software
2025-04-24 12:03:45 [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 12:03:45 [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 12:03:45 [debug] Moves scheduled 23130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 106, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:45 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20730, writes 0 timeouts 0
2025-04-24 12:03:45 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36093/37175
2025-04-24 12:03:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:45 [info] currentZPosition:0.173
2025-04-24 12:03:46 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:46 [debug] Diagnostics for board 50:
2025-04-24 12:03:46 [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 12:03:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:51 ago, cause: software
2025-04-24 12:03:46 [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 12:03:46 [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 12:03:46 [debug] Moves scheduled 23134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:46 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16687, writes 0 timeouts 0
2025-04-24 12:03:46 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37175
2025-04-24 12:03:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:46 [info] currentZPosition:0.172
2025-04-24 12:03:48 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:48 [debug] Diagnostics for board 50:
2025-04-24 12:03:48 [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 12:03:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:53 ago, cause: software
2025-04-24 12:03:48 [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 12:03:48 [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 12:03:48 [debug] Moves scheduled 23138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 111, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:48 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17078, writes 0 timeouts 0
2025-04-24 12:03:48 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36108/37178
2025-04-24 12:03:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:48 [info] currentZPosition:0.173
2025-04-24 12:03:49 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:49 [debug] Diagnostics for board 50:
2025-04-24 12:03:49 [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 12:03:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:54 ago, cause: software
2025-04-24 12:03:49 [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 12:03:49 [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 12:03:49 [debug] Moves scheduled 23142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 108, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:49 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16724, writes 0 timeouts 0
2025-04-24 12:03:49 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37174
2025-04-24 12:03:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:49 [info] currentZPosition:0.172
2025-04-24 12:03:50 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:50 [debug] Diagnostics for board 50:
2025-04-24 12:03:50 [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 12:03:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:55 ago, cause: software
2025-04-24 12:03:50 [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 12:03:50 [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 12:03:50 [debug] Moves scheduled 23146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 105, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:03:50 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17314, writes 0 timeouts 0
2025-04-24 12:03:50 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37178
2025-04-24 12:03:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:51 [info] currentZPosition:0.172
2025-04-24 12:03:52 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:52 [debug] Diagnostics for board 50:
2025-04-24 12:03:52 [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 12:03:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:57 ago, cause: software
2025-04-24 12:03:52 [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 12:03:52 [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 12:03:52 [debug] Moves scheduled 23150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 101, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:03:52 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16185, writes 0 timeouts 0
2025-04-24 12:03:52 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37170
2025-04-24 12:03:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:52 [info] currentZPosition:0.173
2025-04-24 12:03:52 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:53 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:53 [debug] Diagnostics for board 50:
2025-04-24 12:03:53 [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 12:03:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:05:58 ago, cause: software
2025-04-24 12:03:53 [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 12:03:53 [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 12:03:53 [debug] Moves scheduled 23156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 93, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:53 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 21173, writes 0 timeouts 0
2025-04-24 12:03:53 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37177
2025-04-24 12:03:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:54 [info] currentZPosition:0.173
2025-04-24 12:03:55 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:55 [debug] Diagnostics for board 50:
2025-04-24 12:03:55 [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 12:03:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:00 ago, cause: software
2025-04-24 12:03:55 [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 12:03:55 [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 12:03:55 [debug] Moves scheduled 23160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 86, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:55 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16680, writes 0 timeouts 0
2025-04-24 12:03:55 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36286/37176
2025-04-24 12:03:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:55 [info] currentZPosition:0.172
2025-04-24 12:03:56 [debug] Stopped at height 0.172 mm
2025-04-24 12:03:56 [debug] Diagnostics for board 50:
2025-04-24 12:03:56 [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 12:03:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:01 ago, cause: software
2025-04-24 12:03:56 [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 12:03:56 [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 12:03:56 [debug] Moves scheduled 23164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 73, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:56 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17335, writes 0 timeouts 0
2025-04-24 12:03:56 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37174
2025-04-24 12:03:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:56 [info] currentZPosition:0.172
2025-04-24 12:03:57 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:58 [debug] Diagnostics for board 50:
2025-04-24 12:03:58 [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 12:03:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:02 ago, cause: software
2025-04-24 12:03:58 [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 12:03:58 [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 12:03:58 [debug] Moves scheduled 23168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17857
Sync err accum 62, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:03:58 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16327, writes 0 timeouts 0
2025-04-24 12:03:58 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37176
2025-04-24 12:03:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:58 [info] currentZPosition:0.173
2025-04-24 12:03:59 [debug] Stopped at height 0.173 mm
2025-04-24 12:03:59 [debug] Diagnostics for board 50:
2025-04-24 12:03:59 [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 12:03:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:04 ago, cause: software
2025-04-24 12:03:59 [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 12:03:59 [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 12:03:59 [debug] Moves scheduled 23172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6355, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:03:59 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17040, writes 0 timeouts 0
2025-04-24 12:03:59 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37173
2025-04-24 12:03:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:03:59 [info] currentZPosition:0.173
2025-04-24 12:04:00 [debug] Stopped at height 0.172 mm
2025-04-24 12:04:00 [debug] Diagnostics for board 50:
2025-04-24 12:04:00 [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 12:04:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:05 ago, cause: software
2025-04-24 12:04:00 [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 12:04:00 [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 12:04:00 [debug] Moves scheduled 23176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 85, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:00 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16948, writes 0 timeouts 0
2025-04-24 12:04:00 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36400/37175
2025-04-24 12:04:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:00 [info] currentZPosition:0.172
2025-04-24 12:04:02 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:02 [debug] Diagnostics for board 50:
2025-04-24 12:04:02 [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 12:04:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:06 ago, cause: software
2025-04-24 12:04:02 [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 12:04:02 [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 12:04:02 [debug] Moves scheduled 23180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 95, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:02 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17069, writes 0 timeouts 0
2025-04-24 12:04:02 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37174
2025-04-24 12:04:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:02 [info] currentZPosition:0.173
2025-04-24 12:04:03 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:03 [debug] Diagnostics for board 50:
2025-04-24 12:04:03 [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 12:04:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:08 ago, cause: software
2025-04-24 12:04:03 [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 12:04:03 [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 12:04:03 [debug] Moves scheduled 23184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6521, max=17045
Sync err accum 108, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:03 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16320, writes 0 timeouts 0
2025-04-24 12:04:03 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36402/37170
2025-04-24 12:04:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:03 [info] currentZPosition:0.173
2025-04-24 12:04:04 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:04 [debug] Diagnostics for board 50:
2025-04-24 12:04:04 [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 12:04:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:09 ago, cause: software
2025-04-24 12:04:04 [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 12:04:04 [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 12:04:04 [debug] Moves scheduled 23188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6578, max=18292
Sync err accum 116, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:04 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17346, writes 0 timeouts 0
2025-04-24 12:04:04 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36090/37172
2025-04-24 12:04:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:04 [info] currentZPosition:0.173
2025-04-24 12:04:06 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:06 [debug] Diagnostics for board 50:
2025-04-24 12:04:06 [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 12:04:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:10 ago, cause: software
2025-04-24 12:04:06 [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 12:04:06 [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 12:04:06 [debug] Moves scheduled 23192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 121, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:06 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16534, writes 0 timeouts 0
2025-04-24 12:04:06 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37173
2025-04-24 12:04:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:06 [info] currentZPosition:0.173
2025-04-24 12:04:07 [debug] Stopped at height 0.172 mm
2025-04-24 12:04:07 [debug] Diagnostics for board 50:
2025-04-24 12:04:07 [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 12:04:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:12 ago, cause: software
2025-04-24 12:04:07 [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 12:04:07 [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 12:04:07 [debug] Moves scheduled 23196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6880, max=17045
Sync err accum 124, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:07 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17462, writes 0 timeouts 0
2025-04-24 12:04:07 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37176
2025-04-24 12:04:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:07 [info] currentZPosition:0.172
2025-04-24 12:04:08 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:08 [debug] Diagnostics for board 50:
2025-04-24 12:04:08 [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 12:04:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:13 ago, cause: software
2025-04-24 12:04:08 [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 12:04:08 [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 12:04:08 [debug] Moves scheduled 23200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6147, max=17045
Sync err accum 127, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:08 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16613, writes 0 timeouts 0
2025-04-24 12:04:08 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37174
2025-04-24 12:04:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:08 [info] currentZPosition:0.173
2025-04-24 12:04:10 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:10 [debug] Diagnostics for board 50:
2025-04-24 12:04:10 [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 12:04:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:15 ago, cause: software
2025-04-24 12:04:10 [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 12:04:10 [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 12:04:10 [debug] Moves scheduled 23204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=18292
Sync err accum 125, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:10 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16887, writes 0 timeouts 0
2025-04-24 12:04:10 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37176
2025-04-24 12:04:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:10 [info] currentZPosition:0.174
2025-04-24 12:04:11 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:11 [debug] Diagnostics for board 50:
2025-04-24 12:04:11 [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 12:04:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:16 ago, cause: software
2025-04-24 12:04:11 [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 12:04:11 [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 12:04:11 [debug] Moves scheduled 23208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 124, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:11 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16557, writes 0 timeouts 0
2025-04-24 12:04:11 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36383/37175
2025-04-24 12:04:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:11 [info] currentZPosition:0.174
2025-04-24 12:04:12 [debug] Stopped at height 0.172 mm
2025-04-24 12:04:12 [debug] Diagnostics for board 50:
2025-04-24 12:04:12 [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 12:04:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:17 ago, cause: software
2025-04-24 12:04:12 [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 12:04:12 [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 12:04:12 [debug] Moves scheduled 23212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=94, frequency (Hz): min=6147, max=17857
Sync err accum 116, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:12 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17664, writes 0 timeouts 0
2025-04-24 12:04:12 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37174
2025-04-24 12:04:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:12 [info] currentZPosition:0.172
2025-04-24 12:04:13 [debug] Stopped at height 0.170 mm
2025-04-24 12:04:13 [debug] Stopped at height 0.172 mm
2025-04-24 12:04:14 [debug] Stopped at height 0.170 mm
2025-04-24 12:04:14 [debug] Stopped at height 0.168 mm
2025-04-24 12:04:14 [debug] Stopped at height 0.168 mm
2025-04-24 12:04:15 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:15 [debug] Diagnostics for board 50:
2025-04-24 12:04:15 [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 12:04:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:20 ago, cause: software
2025-04-24 12:04:15 [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 12:04:15 [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 12:04:15 [debug] Moves scheduled 23226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 96, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:15 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 36515, writes 0 timeouts 0
2025-04-24 12:04:15 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 66, send timeouts 0, received 42, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36404/37178
2025-04-24 12:04:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:15 [info] currentZPosition:0.174
2025-04-24 12:04:16 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:17 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:17 [debug] Diagnostics for board 50:
2025-04-24 12:04:17 [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 12:04:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:22 ago, cause: software
2025-04-24 12:04:17 [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 12:04:17 [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 12:04:17 [debug] Moves scheduled 23232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 82, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:17 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 21491, writes 0 timeouts 0
2025-04-24 12:04:17 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37179
2025-04-24 12:04:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:17 [info] currentZPosition:0.173
2025-04-24 12:04:18 [debug] Stopped at height 0.172 mm
2025-04-24 12:04:18 [debug] Diagnostics for board 50:
2025-04-24 12:04:18 [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 12:04:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:23 ago, cause: software
2025-04-24 12:04:18 [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 12:04:18 [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 12:04:18 [debug] Moves scheduled 23236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 65, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:18 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17036, writes 0 timeouts 0
2025-04-24 12:04:18 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36407/37177
2025-04-24 12:04:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9196, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:19 [info] currentZPosition:0.172
2025-04-24 12:04:20 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:20 [debug] Diagnostics for board 50:
2025-04-24 12:04:20 [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 12:04:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:25 ago, cause: software
2025-04-24 12:04:20 [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 12:04:20 [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 12:04:20 [debug] Moves scheduled 23240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=7009, max=17045
Sync err accum 65, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:20 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16455, writes 0 timeouts 0
2025-04-24 12:04:20 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36102/37171
2025-04-24 12:04:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:20 [info] currentZPosition:0.174
2025-04-24 12:04:20 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:21 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:21 [debug] Diagnostics for board 50:
2025-04-24 12:04:21 [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 12:04:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:26 ago, cause: software
2025-04-24 12:04:21 [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 12:04:21 [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 12:04:21 [debug] Moves scheduled 23246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5952, max=17857
Sync err accum 79, peak jitter 2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:21 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20716, writes 0 timeouts 0
2025-04-24 12:04:21 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 291, adv 36379/37174
2025-04-24 12:04:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:21 [info] currentZPosition:0.174
2025-04-24 12:04:23 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:23 [debug] Diagnostics for board 50:
2025-04-24 12:04:23 [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 12:04:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:28 ago, cause: software
2025-04-24 12:04:23 [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 12:04:23 [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 12:04:23 [debug] Moves scheduled 23250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17857
Sync err accum 87, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294929120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:23 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17216, writes 0 timeouts 0
2025-04-24 12:04:23 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36095/37176
2025-04-24 12:04:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:23 [info] currentZPosition:0.174
2025-04-24 12:04:24 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:24 [debug] Diagnostics for board 50:
2025-04-24 12:04:24 [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 12:04:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:29 ago, cause: software
2025-04-24 12:04:24 [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 12:04:24 [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 12:04:24 [debug] Moves scheduled 23254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6048, max=18292
Sync err accum 92, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:24 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16738, writes 0 timeouts 0
2025-04-24 12:04:24 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36403/37175
2025-04-24 12:04:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:24 [info] currentZPosition:0.173
2025-04-24 12:04:25 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:25 [debug] Diagnostics for board 50:
2025-04-24 12:04:25 [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 12:04:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:30 ago, cause: software
2025-04-24 12:04:25 [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 12:04:25 [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 12:04:25 [debug] Moves scheduled 23258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 96, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:25 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17055, writes 0 timeouts 0
2025-04-24 12:04:25 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37175
2025-04-24 12:04:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:26 [info] currentZPosition:0.174
2025-04-24 12:04:27 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:27 [debug] Diagnostics for board 50:
2025-04-24 12:04:27 [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 12:04:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:06:32 ago, cause: software
2025-04-24 12:04:27 [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 12:04:27 [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 12:04:27 [debug] Moves scheduled 23262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17857
Sync err accum 100, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:27 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16514, writes 0 timeouts 0
2025-04-24 12:04:27 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37176
2025-04-24 12:04:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:27 [info] currentZPosition:0.174
2025-04-24 12:04:28 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:28 [debug] Diagnostics for board 50:
2025-04-24 12:04:28 [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 12:04:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:33 ago, cause: software
2025-04-24 12:04:28 [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 12:04:28 [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 12:04:28 [debug] Moves scheduled 23266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 100, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:28 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17332, writes 0 timeouts 0
2025-04-24 12:04:28 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37176
2025-04-24 12:04:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:28 [info] currentZPosition:0.173
2025-04-24 12:04:30 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:30 [debug] Diagnostics for board 50:
2025-04-24 12:04:30 [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 12:04:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:34 ago, cause: software
2025-04-24 12:04:30 [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 12:04:30 [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 12:04:30 [debug] Moves scheduled 23270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=7075, max=17857
Sync err accum 97, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:30 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16667, writes 0 timeouts 0
2025-04-24 12:04:30 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36405/37177
2025-04-24 12:04:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:30 [info] currentZPosition:0.173
2025-04-24 12:04:31 [debug] Stopped at height 0.175 mm
2025-04-24 12:04:31 [debug] Diagnostics for board 50:
2025-04-24 12:04:31 [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 12:04:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:06:36 ago, cause: software
2025-04-24 12:04:31 [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 12:04:31 [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 12:04:31 [debug] Moves scheduled 23274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:31 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min 0, mspos 8, reads 16602, writes 0 timeouts 0
2025-04-24 12:04:31 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37174
2025-04-24 12:04:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:31 [info] currentZPosition:0.175
2025-04-24 12:04:31 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:33 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:33 [debug] Diagnostics for board 50:
2025-04-24 12:04:33 [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 12:04:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:37 ago, cause: software
2025-04-24 12:04:33 [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 12:04:33 [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 12:04:33 [debug] Moves scheduled 23280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 87, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:33 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 21100, writes 0 timeouts 0
2025-04-24 12:04:33 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37178
2025-04-24 12:04:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:33 [info] currentZPosition:0.173
2025-04-24 12:04:34 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:34 [debug] Diagnostics for board 50:
2025-04-24 12:04:34 [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 12:04:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:39 ago, cause: software
2025-04-24 12:04:34 [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 12:04:34 [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 12:04:34 [debug] Moves scheduled 23284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=18292
Sync err accum 76, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:04:34 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16937, writes 0 timeouts 0
2025-04-24 12:04:34 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37176
2025-04-24 12:04:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:34 [info] currentZPosition:0.174
2025-04-24 12:04:35 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:35 [debug] Diagnostics for board 50:
2025-04-24 12:04:35 [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 12:04:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:40 ago, cause: software
2025-04-24 12:04:35 [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 12:04:35 [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 12:04:35 [debug] Moves scheduled 23288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:04:35 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16492, writes 0 timeouts 0
2025-04-24 12:04:35 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36400/37177
2025-04-24 12:04:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:35 [info] currentZPosition:0.174
2025-04-24 12:04:37 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:37 [debug] Diagnostics for board 50:
2025-04-24 12:04:37 [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 12:04:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:41 ago, cause: software
2025-04-24 12:04:37 [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 12:04:37 [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 12:04:37 [debug] Moves scheduled 23292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 65, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:37 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17209, writes 0 timeouts 0
2025-04-24 12:04:37 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 12:04:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:37 [info] currentZPosition:0.174
2025-04-24 12:04:38 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:38 [debug] Diagnostics for board 50:
2025-04-24 12:04:38 [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 12:04:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:43 ago, cause: software
2025-04-24 12:04:38 [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 12:04:38 [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 12:04:38 [debug] Moves scheduled 23296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:38 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16538, writes 0 timeouts 0
2025-04-24 12:04:38 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36399/37173
2025-04-24 12:04:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:38 [info] currentZPosition:0.174
2025-04-24 12:04:39 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:39 [debug] Diagnostics for board 50:
2025-04-24 12:04:39 [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 12:04:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:44 ago, cause: software
2025-04-24 12:04:39 [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 12:04:39 [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 12:04:39 [debug] Moves scheduled 23300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 84, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:39 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17626, writes 0 timeouts 0
2025-04-24 12:04:39 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36101/37174
2025-04-24 12:04:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:39 [info] currentZPosition:0.173
2025-04-24 12:04:41 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:41 [debug] Diagnostics for board 50:
2025-04-24 12:04:41 [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 12:04:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:45 ago, cause: software
2025-04-24 12:04:41 [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 12:04:41 [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 12:04:41 [debug] Moves scheduled 23304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 91, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:41 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16288, writes 0 timeouts 0
2025-04-24 12:04:41 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37176
2025-04-24 12:04:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:41 [info] currentZPosition:0.174
2025-04-24 12:04:42 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:42 [debug] Diagnostics for board 50:
2025-04-24 12:04:42 [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 12:04:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:47 ago, cause: software
2025-04-24 12:04:42 [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 12:04:42 [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 12:04:42 [debug] Moves scheduled 23308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:42 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17365, writes 0 timeouts 0
2025-04-24 12:04:42 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37174
2025-04-24 12:04:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:42 [info] currentZPosition:0.174
2025-04-24 12:04:43 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:43 [debug] Diagnostics for board 50:
2025-04-24 12:04:43 [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 12:04:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:48 ago, cause: software
2025-04-24 12:04:43 [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 12:04:43 [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 12:04:43 [debug] Moves scheduled 23312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:43 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16773, writes 0 timeouts 0
2025-04-24 12:04:43 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36381/37175
2025-04-24 12:04:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:43 [info] currentZPosition:0.173
2025-04-24 12:04:45 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:45 [debug] Diagnostics for board 50:
2025-04-24 12:04:45 [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 12:04:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:50 ago, cause: software
2025-04-24 12:04:45 [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 12:04:45 [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 12:04:45 [debug] Moves scheduled 23316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:45 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16812, writes 0 timeouts 0
2025-04-24 12:04:45 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36097/37176
2025-04-24 12:04:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:45 [info] currentZPosition:0.174
2025-04-24 12:04:46 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:46 [debug] Diagnostics for board 50:
2025-04-24 12:04:46 [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 12:04:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:51 ago, cause: software
2025-04-24 12:04:46 [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 12:04:46 [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 12:04:46 [debug] Moves scheduled 23320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6578, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:46 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16711, writes 0 timeouts 0
2025-04-24 12:04:46 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36396/37177
2025-04-24 12:04:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:46 [info] currentZPosition:0.174
2025-04-24 12:04:47 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:47 [debug] Diagnostics for board 50:
2025-04-24 12:04:47 [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 12:04:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:52 ago, cause: software
2025-04-24 12:04:47 [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 12:04:47 [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 12:04:47 [debug] Moves scheduled 23324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17857
Sync err accum 84, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:47 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17302, writes 0 timeouts 0
2025-04-24 12:04:47 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36113/37178
2025-04-24 12:04:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:48 [info] currentZPosition:0.174
2025-04-24 12:04:49 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:49 [debug] Diagnostics for board 50:
2025-04-24 12:04:49 [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 12:04:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:54 ago, cause: software
2025-04-24 12:04:49 [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 12:04:49 [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 12:04:49 [debug] Moves scheduled 23328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=18292
Sync err accum 77, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:49 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16435, writes 0 timeouts 0
2025-04-24 12:04:49 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36284/37174
2025-04-24 12:04:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:49 [info] currentZPosition:0.174
2025-04-24 12:04:50 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:50 [debug] Diagnostics for board 50:
2025-04-24 12:04:50 [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 12:04:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:55 ago, cause: software
2025-04-24 12:04:50 [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 12:04:50 [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 12:04:50 [debug] Moves scheduled 23332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6302, max=17045
Sync err accum 65, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:04:50 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17352, writes 0 timeouts 0
2025-04-24 12:04:50 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36110/37174
2025-04-24 12:04:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:50 [info] currentZPosition:0.174
2025-04-24 12:04:52 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:52 [debug] Diagnostics for board 50:
2025-04-24 12:04:52 [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 12:04:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:56 ago, cause: software
2025-04-24 12:04:52 [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 12:04:52 [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 12:04:52 [debug] Moves scheduled 23336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17857
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:52 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16999, writes 0 timeouts 0
2025-04-24 12:04:52 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37175
2025-04-24 12:04:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:52 [info] currentZPosition:0.173
2025-04-24 12:04:52 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:53 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:53 [debug] Diagnostics for board 50:
2025-04-24 12:04:53 [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 12:04:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:06:58 ago, cause: software
2025-04-24 12:04:53 [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 12:04:53 [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 12:04:53 [debug] Moves scheduled 23342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17857
Sync err accum 78, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:53 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20466, writes 0 timeouts 0
2025-04-24 12:04:53 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36095/37172
2025-04-24 12:04:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:53 [info] currentZPosition:0.174
2025-04-24 12:04:54 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:55 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:55 [debug] Diagnostics for board 50:
2025-04-24 12:04:55 [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 12:04:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:00 ago, cause: software
2025-04-24 12:04:55 [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 12:04:55 [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 12:04:55 [debug] Moves scheduled 23348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 89, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:55 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20725, writes 0 timeouts 0
2025-04-24 12:04:55 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36151/37174
2025-04-24 12:04:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:55 [info] currentZPosition:0.174
2025-04-24 12:04:56 [debug] Stopped at height 0.174 mm
2025-04-24 12:04:56 [debug] Diagnostics for board 50:
2025-04-24 12:04:56 [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 12:04:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:01 ago, cause: software
2025-04-24 12:04:56 [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 12:04:56 [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 12:04:56 [debug] Moves scheduled 23352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6637, max=18292
Sync err accum 91, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:56 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17071, writes 0 timeouts 0
2025-04-24 12:04:56 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37174
2025-04-24 12:04:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:56 [info] currentZPosition:0.174
2025-04-24 12:04:57 [debug] Stopped at height 0.175 mm
2025-04-24 12:04:57 [debug] Diagnostics for board 50:
2025-04-24 12:04:57 [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 12:04:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:02 ago, cause: software
2025-04-24 12:04:57 [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 12:04:57 [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 12:04:57 [debug] Moves scheduled 23356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 93, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:04:57 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16264, writes 0 timeouts 0
2025-04-24 12:04:57 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36178/37168
2025-04-24 12:04:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:58 [info] currentZPosition:0.175
2025-04-24 12:04:59 [debug] Stopped at height 0.173 mm
2025-04-24 12:04:59 [debug] Diagnostics for board 50:
2025-04-24 12:04:59 [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 12:04:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:04 ago, cause: software
2025-04-24 12:04:59 [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 12:04:59 [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 12:04:59 [debug] Moves scheduled 23360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 95, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:04:59 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17625, writes 0 timeouts 0
2025-04-24 12:04:59 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36095/37177
2025-04-24 12:04:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:04:59 [info] currentZPosition:0.173
2025-04-24 12:04:59 [debug] Stopped at height 0.172 mm
2025-04-24 12:05:00 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:01 [debug] Diagnostics for board 50:
2025-04-24 12:05:01 [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 12:05:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:05 ago, cause: software
2025-04-24 12:05:01 [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 12:05:01 [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 12:05:01 [debug] Moves scheduled 23366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:01 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20219, writes 0 timeouts 0
2025-04-24 12:05:01 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36167/37175
2025-04-24 12:05:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:01 [info] currentZPosition:0.175
2025-04-24 12:05:01 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:02 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:02 [debug] Diagnostics for board 50:
2025-04-24 12:05:02 [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 12:05:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:07 ago, cause: software
2025-04-24 12:05:02 [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 12:05:02 [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 12:05:02 [debug] Moves scheduled 23372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 88, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:02 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21231, writes 0 timeouts 0
2025-04-24 12:05:02 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 12:05:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:02 [info] currentZPosition:0.174
2025-04-24 12:05:04 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:04 [debug] Diagnostics for board 50:
2025-04-24 12:05:04 [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 12:05:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:08 ago, cause: software
2025-04-24 12:05:04 [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 12:05:04 [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 12:05:04 [debug] Moves scheduled 23376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6944, max=17857
Sync err accum 83, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:04 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16482, writes 0 timeouts 0
2025-04-24 12:05:04 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36146/37174
2025-04-24 12:05:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:04 [info] currentZPosition:0.174
2025-04-24 12:05:05 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:05 [debug] Diagnostics for board 50:
2025-04-24 12:05:05 [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 12:05:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:10 ago, cause: software
2025-04-24 12:05:05 [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 12:05:05 [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 12:05:05 [debug] Moves scheduled 23380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6944, max=17857
Sync err accum 72, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:05 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17060, writes 0 timeouts 0
2025-04-24 12:05:05 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 12:05:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:05 [info] currentZPosition:0.175
2025-04-24 12:05:06 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:06 [debug] Diagnostics for board 50:
2025-04-24 12:05:06 [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 12:05:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:11 ago, cause: software
2025-04-24 12:05:06 [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 12:05:06 [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 12:05:06 [debug] Moves scheduled 23384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 62, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:06 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16825, writes 0 timeouts 0
2025-04-24 12:05:06 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37179
2025-04-24 12:05:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:06 [info] currentZPosition:0.174
2025-04-24 12:05:08 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:08 [debug] Diagnostics for board 50:
2025-04-24 12:05:08 [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 12:05:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:12 ago, cause: software
2025-04-24 12:05:08 [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 12:05:08 [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 12:05:08 [debug] Moves scheduled 23388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6818, max=17045
Sync err accum 71, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:08 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16854, writes 0 timeouts 0
2025-04-24 12:05:08 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37176
2025-04-24 12:05:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:08 [info] currentZPosition:0.175
2025-04-24 12:05:09 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:09 [debug] Diagnostics for board 50:
2025-04-24 12:05:09 [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 12:05:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:14 ago, cause: software
2025-04-24 12:05:09 [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 12:05:09 [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 12:05:09 [debug] Moves scheduled 23392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=503, max=17045
Sync err accum 81, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 12:05:09 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16484, writes 11 timeouts 1
2025-04-24 12:05:09 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37177
2025-04-24 12:05:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:09 [info] currentZPosition:0.175
2025-04-24 12:05:10 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:10 [debug] Diagnostics for board 50:
2025-04-24 12:05:10 [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 12:05:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:15 ago, cause: software
2025-04-24 12:05:10 [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 12:05:10 [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 12:05:10 [debug] Moves scheduled 23396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:10 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 17038, writes 0 timeouts 0
2025-04-24 12:05:10 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36108/37171
2025-04-24 12:05:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:10 [info] currentZPosition:0.175
2025-04-24 12:05:12 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:12 [debug] Diagnostics for board 50:
2025-04-24 12:05:12 [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 12:05:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:16 ago, cause: software
2025-04-24 12:05:12 [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 12:05:12 [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 12:05:12 [debug] Moves scheduled 23400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 93, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:12 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16616, writes 0 timeouts 0
2025-04-24 12:05:12 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37171
2025-04-24 12:05:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:12 [info] currentZPosition:0.175
2025-04-24 12:05:13 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:13 [debug] Diagnostics for board 50:
2025-04-24 12:05:13 [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 12:05:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:18 ago, cause: software
2025-04-24 12:05:13 [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 12:05:13 [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 12:05:13 [debug] Moves scheduled 23404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 95, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:13 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17361, writes 0 timeouts 0
2025-04-24 12:05:13 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 12:05:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:13 [info] currentZPosition:0.175
2025-04-24 12:05:14 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:14 [debug] Diagnostics for board 50:
2025-04-24 12:05:14 [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 12:05:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:07:19 ago, cause: software
2025-04-24 12:05:14 [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 12:05:14 [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 12:05:14 [debug] Moves scheduled 23408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6302, max=17441
Sync err accum 95, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:14 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16524, writes 0 timeouts 0
2025-04-24 12:05:14 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36157/37174
2025-04-24 12:05:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:14 [info] currentZPosition:0.175
2025-04-24 12:05:16 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:16 [debug] Diagnostics for board 50:
2025-04-24 12:05:16 [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 12:05:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:21 ago, cause: software
2025-04-24 12:05:16 [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 12:05:16 [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 12:05:16 [debug] Moves scheduled 23412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6355, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:16 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17259, writes 0 timeouts 0
2025-04-24 12:05:16 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37171
2025-04-24 12:05:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:16 [info] currentZPosition:0.175
2025-04-24 12:05:17 [debug] Stopped at height 0.173 mm
2025-04-24 12:05:17 [debug] Diagnostics for board 50:
2025-04-24 12:05:17 [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 12:05:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:22 ago, cause: software
2025-04-24 12:05:17 [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 12:05:17 [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 12:05:17 [debug] Moves scheduled 23416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 85, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294934933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32
2025-04-24 12:05:17 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16978, writes 0 timeouts 0
2025-04-24 12:05:17 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36162/37171
2025-04-24 12:05:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:17 [info] currentZPosition:0.173
2025-04-24 12:05:17 [debug] Stopped at height 0.172 mm
2025-04-24 12:05:19 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:19 [debug] Diagnostics for board 50:
2025-04-24 12:05:19 [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 12:05:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:24 ago, cause: software
2025-04-24 12:05:19 [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 12:05:19 [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 12:05:19 [debug] Moves scheduled 23422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=555, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:19 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20821, writes 11 timeouts 1
2025-04-24 12:05:19 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37179
2025-04-24 12:05:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:19 [info] currentZPosition:0.175
2025-04-24 12:05:19 [debug] Stopped at height 0.173 mm
2025-04-24 12:05:20 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:20 [debug] Diagnostics for board 50:
2025-04-24 12:05:20 [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 12:05:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:25 ago, cause: software
2025-04-24 12:05:20 [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 12:05:20 [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 12:05:20 [debug] Moves scheduled 23428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6250, max=17857
Sync err accum 61, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:20 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 20342, writes 0 timeouts 0
2025-04-24 12:05:20 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37176
2025-04-24 12:05:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:20 [info] currentZPosition:0.175
2025-04-24 12:05:21 [debug] Stopped at height 0.173 mm
2025-04-24 12:05:22 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:22 [debug] Diagnostics for board 50:
2025-04-24 12:05:22 [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 12:05:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:27 ago, cause: software
2025-04-24 12:05:22 [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 12:05:22 [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 12:05:22 [debug] Moves scheduled 23434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6944, max=18292
Sync err accum 72, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:22 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21257, writes 0 timeouts 0
2025-04-24 12:05:22 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37176
2025-04-24 12:05:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:22 [info] currentZPosition:0.174
2025-04-24 12:05:23 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:23 [debug] Diagnostics for board 50:
2025-04-24 12:05:23 [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 12:05:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:28 ago, cause: software
2025-04-24 12:05:23 [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 12:05:23 [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 12:05:23 [debug] Moves scheduled 23438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6097, max=17857
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:23 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16605, writes 0 timeouts 0
2025-04-24 12:05:23 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36148/37172
2025-04-24 12:05:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:23 [info] currentZPosition:0.174
2025-04-24 12:05:25 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:25 [debug] Diagnostics for board 50:
2025-04-24 12:05:25 [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 12:05:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:07:30 ago, cause: software
2025-04-24 12:05:25 [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 12:05:25 [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 12:05:25 [debug] Moves scheduled 23442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 85, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:25 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17065, writes 0 timeouts 0
2025-04-24 12:05:25 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37173
2025-04-24 12:05:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:25 [info] currentZPosition:0.175
2025-04-24 12:05:26 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:26 [debug] Diagnostics for board 50:
2025-04-24 12:05:26 [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 12:05:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:31 ago, cause: software
2025-04-24 12:05:26 [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 12:05:26 [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 12:05:26 [debug] Moves scheduled 23446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:26 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16806, writes 0 timeouts 0
2025-04-24 12:05:26 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36149/37174
2025-04-24 12:05:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:26 [info] currentZPosition:0.174
2025-04-24 12:05:27 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:27 [debug] Diagnostics for board 50:
2025-04-24 12:05:27 [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 12:05:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:32 ago, cause: software
2025-04-24 12:05:27 [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 12:05:27 [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 12:05:27 [debug] Moves scheduled 23450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=17045
Sync err accum 90, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:27 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17072, writes 0 timeouts 0
2025-04-24 12:05:27 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37174
2025-04-24 12:05:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:28 [info] currentZPosition:0.174
2025-04-24 12:05:29 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:29 [debug] Diagnostics for board 50:
2025-04-24 12:05:29 [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 12:05:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:34 ago, cause: software
2025-04-24 12:05:29 [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 12:05:29 [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 12:05:29 [debug] Moves scheduled 23454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:29 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16461, writes 0 timeouts 0
2025-04-24 12:05:29 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37177
2025-04-24 12:05:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4555, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:29 [info] currentZPosition:0.175
2025-04-24 12:05:30 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:30 [debug] Diagnostics for board 50:
2025-04-24 12:05:30 [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 12:05:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:35 ago, cause: software
2025-04-24 12:05:30 [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 12:05:30 [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 12:05:30 [debug] Moves scheduled 23458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6147, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:30 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 17054, writes 0 timeouts 0
2025-04-24 12:05:30 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37177
2025-04-24 12:05:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:30 [info] currentZPosition:0.175
2025-04-24 12:05:31 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:31 [debug] Diagnostics for board 50:
2025-04-24 12:05:31 [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 12:05:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:36 ago, cause: software
2025-04-24 12:05:31 [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 12:05:31 [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 12:05:31 [debug] Moves scheduled 23462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:31 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16856, writes 0 timeouts 0
2025-04-24 12:05:31 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37177
2025-04-24 12:05:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:32 [info] currentZPosition:0.174
2025-04-24 12:05:33 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:33 [debug] Diagnostics for board 50:
2025-04-24 12:05:33 [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 12:05:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:38 ago, cause: software
2025-04-24 12:05:33 [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 12:05:33 [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 12:05:33 [debug] Moves scheduled 23466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 75, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:33 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17023, writes 0 timeouts 0
2025-04-24 12:05:33 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37178
2025-04-24 12:05:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:33 [info] currentZPosition:0.175
2025-04-24 12:05:34 [debug] Stopped at height 0.176 mm
2025-04-24 12:05:34 [debug] Diagnostics for board 50:
2025-04-24 12:05:34 [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 12:05:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:39 ago, cause: software
2025-04-24 12:05:34 [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 12:05:34 [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 12:05:34 [debug] Moves scheduled 23470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5813, max=17857
Sync err accum 68, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:34 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16317, writes 0 timeouts 0
2025-04-24 12:05:34 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36162/37178
2025-04-24 12:05:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:34 [info] currentZPosition:0.176
2025-04-24 12:05:36 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:36 [debug] Diagnostics for board 50:
2025-04-24 12:05:36 [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 12:05:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:40 ago, cause: software
2025-04-24 12:05:36 [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 12:05:36 [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 12:05:36 [debug] Moves scheduled 23474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=754, max=17857
Sync err accum 65, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:36 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17384, writes 11 timeouts 1
2025-04-24 12:05:36 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37179
2025-04-24 12:05:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:36 [info] currentZPosition:0.175
2025-04-24 12:05:37 [debug] Stopped at height 0.176 mm
2025-04-24 12:05:37 [debug] Diagnostics for board 50:
2025-04-24 12:05:37 [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 12:05:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:07:42 ago, cause: software
2025-04-24 12:05:37 [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 12:05:37 [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 12:05:37 [debug] Moves scheduled 23478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5859, max=17045
Sync err accum 76, peak jitter 1/3, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:37 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16286, writes 0 timeouts 0
2025-04-24 12:05:37 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36162/37174
2025-04-24 12:05:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:37 [info] currentZPosition:0.176
2025-04-24 12:05:38 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:38 [debug] Diagnostics for board 50:
2025-04-24 12:05:38 [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 12:05:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:43 ago, cause: software
2025-04-24 12:05:38 [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 12:05:38 [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 12:05:38 [debug] Moves scheduled 23482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:38 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 17218, writes 0 timeouts 0
2025-04-24 12:05:38 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37174
2025-04-24 12:05:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:38 [info] currentZPosition:0.175
2025-04-24 12:05:40 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:40 [debug] Diagnostics for board 50:
2025-04-24 12:05:40 [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 12:05:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:44 ago, cause: software
2025-04-24 12:05:40 [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 12:05:40 [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 12:05:40 [debug] Moves scheduled 23486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17857
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 4294933850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:40 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16882, writes 0 timeouts 0
2025-04-24 12:05:40 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36149/37176
2025-04-24 12:05:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:40 [info] currentZPosition:0.175
2025-04-24 12:05:41 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:41 [debug] Diagnostics for board 50:
2025-04-24 12:05:41 [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 12:05:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:46 ago, cause: software
2025-04-24 12:05:41 [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 12:05:41 [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 12:05:41 [debug] Moves scheduled 23490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 96, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:41 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17093, writes 0 timeouts 0
2025-04-24 12:05:41 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37174
2025-04-24 12:05:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:41 [info] currentZPosition:0.175
2025-04-24 12:05:42 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:42 [debug] Diagnostics for board 50:
2025-04-24 12:05:42 [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 12:05:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:47 ago, cause: software
2025-04-24 12:05:42 [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 12:05:42 [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 12:05:42 [debug] Moves scheduled 23494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=74, frequency (Hz): min=6250, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:42 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16769, writes 0 timeouts 0
2025-04-24 12:05:42 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37175
2025-04-24 12:05:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:42 [info] currentZPosition:0.174
2025-04-24 12:05:44 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:44 [debug] Diagnostics for board 50:
2025-04-24 12:05:44 [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 12:05:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:48 ago, cause: software
2025-04-24 12:05:44 [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 12:05:44 [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 12:05:44 [debug] Moves scheduled 23498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 99, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:44 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16978, writes 0 timeouts 0
2025-04-24 12:05:44 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36090/37176
2025-04-24 12:05:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:44 [info] currentZPosition:0.175
2025-04-24 12:05:45 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:45 [debug] Diagnostics for board 50:
2025-04-24 12:05:45 [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 12:05:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:07:50 ago, cause: software
2025-04-24 12:05:45 [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 12:05:45 [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 12:05:45 [debug] Moves scheduled 23502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17857
Sync err accum 97, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294930047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:45 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16725, writes 0 timeouts 0
2025-04-24 12:05:45 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36403/37177
2025-04-24 12:05:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:45 [info] currentZPosition:0.175
2025-04-24 12:05:46 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:46 [debug] Diagnostics for board 50:
2025-04-24 12:05:46 [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 12:05:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:51 ago, cause: software
2025-04-24 12:05:46 [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 12:05:46 [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 12:05:46 [debug] Moves scheduled 23506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294935045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 12:05:46 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 17130, writes 0 timeouts 0
2025-04-24 12:05:46 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36097/37176
2025-04-24 12:05:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:46 [info] currentZPosition:0.175
2025-04-24 12:05:48 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:48 [debug] Diagnostics for board 50:
2025-04-24 12:05:48 [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 12:05:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:53 ago, cause: software
2025-04-24 12:05:48 [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 12:05:48 [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 12:05:48 [debug] Moves scheduled 23510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 90, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294935422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:48 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16859, writes 0 timeouts 0
2025-04-24 12:05:48 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36382/37175
2025-04-24 12:05:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:48 [info] currentZPosition:0.174
2025-04-24 12:05:49 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:49 [debug] Diagnostics for board 50:
2025-04-24 12:05:49 [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 12:05:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:54 ago, cause: software
2025-04-24 12:05:49 [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 12:05:49 [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 12:05:49 [debug] Moves scheduled 23514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
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 4294930776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:49 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17187, writes 0 timeouts 0
2025-04-24 12:05:49 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36096/37177
2025-04-24 12:05:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:49 [info] currentZPosition:0.174
2025-04-24 12:05:50 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:50 [debug] Diagnostics for board 50:
2025-04-24 12:05:50 [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 12:05:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:55 ago, cause: software
2025-04-24 12:05:50 [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 12:05:50 [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 12:05:50 [debug] Moves scheduled 23518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 70, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:50 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16515, writes 0 timeouts 0
2025-04-24 12:05:50 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36399/37176
2025-04-24 12:05:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:50 [info] currentZPosition:0.175
2025-04-24 12:05:52 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:52 [debug] Diagnostics for board 50:
2025-04-24 12:05:52 [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 12:05:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:57 ago, cause: software
2025-04-24 12:05:52 [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 12:05:52 [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 12:05:52 [debug] Moves scheduled 23522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17045
Sync err accum 61, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:52 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17538, writes 0 timeouts 0
2025-04-24 12:05:52 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37175
2025-04-24 12:05:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9179, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:52 [info] currentZPosition:0.174
2025-04-24 12:05:53 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:53 [debug] Diagnostics for board 50:
2025-04-24 12:05:53 [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 12:05:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:58 ago, cause: software
2025-04-24 12:05:53 [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 12:05:53 [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 12:05:53 [debug] Moves scheduled 23526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 76, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:53 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16318, writes 0 timeouts 0
2025-04-24 12:05:53 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36399/37173
2025-04-24 12:05:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:53 [info] currentZPosition:0.175
2025-04-24 12:05:54 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:54 [debug] Diagnostics for board 50:
2025-04-24 12:05:54 [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 12:05:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:07:59 ago, cause: software
2025-04-24 12:05:54 [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 12:05:54 [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 12:05:54 [debug] Moves scheduled 23530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 91, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932659 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:05:54 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17079, writes 0 timeouts 0
2025-04-24 12:05:54 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36107/37175
2025-04-24 12:05:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:55 [info] currentZPosition:0.175
2025-04-24 12:05:56 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:56 [debug] Diagnostics for board 50:
2025-04-24 12:05:56 [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 12:05:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:01 ago, cause: software
2025-04-24 12:05:56 [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 12:05:56 [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 12:05:56 [debug] Moves scheduled 23534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 101, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294928825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:05:56 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16845, writes 0 timeouts 0
2025-04-24 12:05:56 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36394/37175
2025-04-24 12:05:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:56 [info] currentZPosition:0.174
2025-04-24 12:05:57 [debug] Stopped at height 0.174 mm
2025-04-24 12:05:57 [debug] Diagnostics for board 50:
2025-04-24 12:05:57 [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 12:05:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:02 ago, cause: software
2025-04-24 12:05:57 [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 12:05:57 [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 12:05:57 [debug] Moves scheduled 23538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 110, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:57 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17200, writes 0 timeouts 0
2025-04-24 12:05:57 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37174
2025-04-24 12:05:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:57 [info] currentZPosition:0.174
2025-04-24 12:05:59 [debug] Stopped at height 0.175 mm
2025-04-24 12:05:59 [debug] Diagnostics for board 50:
2025-04-24 12:05:59 [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 12:05:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:03 ago, cause: software
2025-04-24 12:05:59 [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 12:05:59 [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 12:05:59 [debug] Moves scheduled 23542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6250, max=17045
Sync err accum 117, peak jitter 1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:05:59 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16312, writes 0 timeouts 0
2025-04-24 12:05:59 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36402/37172
2025-04-24 12:05:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:05:59 [info] currentZPosition:0.175
2025-04-24 12:06:00 [debug] Stopped at height 0.176 mm
2025-04-24 12:06:00 [debug] Diagnostics for board 50:
2025-04-24 12:06:00 [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 12:06:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:05 ago, cause: software
2025-04-24 12:06:00 [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 12:06:00 [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 12:06:00 [debug] Moves scheduled 23546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 121, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:00 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17081, writes 0 timeouts 0
2025-04-24 12:06:00 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37175
2025-04-24 12:06:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:00 [info] currentZPosition:0.176
2025-04-24 12:06:01 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:01 [debug] Diagnostics for board 50:
2025-04-24 12:06:01 [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 12:06:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:06 ago, cause: software
2025-04-24 12:06:01 [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 12:06:01 [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 12:06:01 [debug] Moves scheduled 23550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 124, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:01 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16930, writes 0 timeouts 0
2025-04-24 12:06:01 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36402/37176
2025-04-24 12:06:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:01 [info] currentZPosition:0.175
2025-04-24 12:06:03 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:03 [debug] Diagnostics for board 50:
2025-04-24 12:06:03 [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 12:06:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:07 ago, cause: software
2025-04-24 12:06:03 [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 12:06:03 [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 12:06:03 [debug] Moves scheduled 23554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17441
Sync err accum 124, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294936423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:06:03 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17366, writes 0 timeouts 0
2025-04-24 12:06:03 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36092/37177
2025-04-24 12:06:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:03 [info] currentZPosition:0.174
2025-04-24 12:06:04 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:04 [debug] Diagnostics for board 50:
2025-04-24 12:06:04 [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 12:06:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:09 ago, cause: software
2025-04-24 12:06:04 [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 12:06:04 [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 12:06:04 [debug] Moves scheduled 23558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 119, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:04 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16263, writes 0 timeouts 0
2025-04-24 12:06:04 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36405/37178
2025-04-24 12:06:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:04 [info] currentZPosition:0.175
2025-04-24 12:06:05 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:05 [debug] Diagnostics for board 50:
2025-04-24 12:06:05 [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 12:06:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:10 ago, cause: software
2025-04-24 12:06:05 [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 12:06:05 [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 12:06:05 [debug] Moves scheduled 23562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6198, max=17045
Sync err accum 117, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:05 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17554, writes 0 timeouts 0
2025-04-24 12:06:05 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36105/37175
2025-04-24 12:06:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:05 [info] currentZPosition:0.174
2025-04-24 12:06:07 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:07 [debug] Diagnostics for board 50:
2025-04-24 12:06:07 [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 12:06:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:11 ago, cause: software
2025-04-24 12:06:07 [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 12:06:07 [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 12:06:07 [debug] Moves scheduled 23566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6818, max=17045
Sync err accum 109, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:07 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16464, writes 0 timeouts 0
2025-04-24 12:06:07 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37175
2025-04-24 12:06:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:07 [info] currentZPosition:0.175
2025-04-24 12:06:08 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:08 [debug] Diagnostics for board 50:
2025-04-24 12:06:08 [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 12:06:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:13 ago, cause: software
2025-04-24 12:06:08 [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 12:06:08 [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 12:06:08 [debug] Moves scheduled 23570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=18292
Sync err accum 97, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:08 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16920, writes 0 timeouts 0
2025-04-24 12:06:08 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36096/37179
2025-04-24 12:06:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:08 [info] currentZPosition:0.175
2025-04-24 12:06:09 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:09 [debug] Diagnostics for board 50:
2025-04-24 12:06:09 [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 12:06:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:14 ago, cause: software
2025-04-24 12:06:09 [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 12:06:09 [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 12:06:09 [debug] Moves scheduled 23574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 83, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:09 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16718, writes 0 timeouts 0
2025-04-24 12:06:09 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37177
2025-04-24 12:06:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:09 [info] currentZPosition:0.175
2025-04-24 12:06:11 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:11 [debug] Diagnostics for board 50:
2025-04-24 12:06:11 [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 12:06:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:16 ago, cause: software
2025-04-24 12:06:11 [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 12:06:11 [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 12:06:11 [debug] Moves scheduled 23578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17857
Sync err accum 63, peak jitter -4/-2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:11 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17363, writes 0 timeouts 0
2025-04-24 12:06:11 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36105/37179
2025-04-24 12:06:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:11 [info] currentZPosition:0.174
2025-04-24 12:06:12 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:12 [debug] Diagnostics for board 50:
2025-04-24 12:06:12 [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 12:06:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:17 ago, cause: software
2025-04-24 12:06:12 [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 12:06:12 [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 12:06:12 [debug] Moves scheduled 23582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=7009, max=17045
Sync err accum 67, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:12 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16714, writes 0 timeouts 0
2025-04-24 12:06:12 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36399/37178
2025-04-24 12:06:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:12 [info] currentZPosition:0.174
2025-04-24 12:06:13 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:13 [debug] Diagnostics for board 50:
2025-04-24 12:06:13 [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 12:06:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:18 ago, cause: software
2025-04-24 12:06:13 [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 12:06:13 [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 12:06:13 [debug] Moves scheduled 23586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:13 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16989, writes 0 timeouts 0
2025-04-24 12:06:13 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37170
2025-04-24 12:06:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:13 [info] currentZPosition:0.175
2025-04-24 12:06:15 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:15 [debug] Diagnostics for board 50:
2025-04-24 12:06:15 [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 12:06:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:20 ago, cause: software
2025-04-24 12:06:15 [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 12:06:15 [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 12:06:15 [debug] Moves scheduled 23590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 84, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:15 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16781, writes 0 timeouts 0
2025-04-24 12:06:15 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37175
2025-04-24 12:06:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:15 [info] currentZPosition:0.174
2025-04-24 12:06:16 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:16 [debug] Diagnostics for board 50:
2025-04-24 12:06:16 [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 12:06:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:21 ago, cause: software
2025-04-24 12:06:16 [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 12:06:16 [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 12:06:16 [debug] Moves scheduled 23594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6410, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294927431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:16 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17084, writes 0 timeouts 0
2025-04-24 12:06:16 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37175
2025-04-24 12:06:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:16 [info] currentZPosition:0.175
2025-04-24 12:06:17 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:17 [debug] Diagnostics for board 50:
2025-04-24 12:06:17 [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 12:06:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:22 ago, cause: software
2025-04-24 12:06:17 [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 12:06:17 [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 12:06:17 [debug] Moves scheduled 23598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:17 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16433, writes 0 timeouts 0
2025-04-24 12:06:17 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36404/37176
2025-04-24 12:06:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:18 [info] currentZPosition:0.175
2025-04-24 12:06:19 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:19 [debug] Diagnostics for board 50:
2025-04-24 12:06:19 [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 12:06:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:24 ago, cause: software
2025-04-24 12:06:19 [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 12:06:19 [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 12:06:19 [debug] Moves scheduled 23602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=573, max=17857
Sync err accum 89, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:19 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17308, writes 11 timeouts 1
2025-04-24 12:06:19 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37174
2025-04-24 12:06:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:19 [info] currentZPosition:0.175
2025-04-24 12:06:20 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:20 [debug] Diagnostics for board 50:
2025-04-24 12:06:20 [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 12:06:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:25 ago, cause: software
2025-04-24 12:06:20 [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 12:06:20 [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 12:06:20 [debug] Moves scheduled 23606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6355, max=17857
Sync err accum 85, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:20 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16915, writes 0 timeouts 0
2025-04-24 12:06:20 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37176
2025-04-24 12:06:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:20 [info] currentZPosition:0.174
2025-04-24 12:06:22 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:22 [debug] Diagnostics for board 50:
2025-04-24 12:06:22 [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 12:06:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:26 ago, cause: software
2025-04-24 12:06:22 [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 12:06:22 [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 12:06:22 [debug] Moves scheduled 23610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 75, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:22 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16990, writes 0 timeouts 0
2025-04-24 12:06:22 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37175
2025-04-24 12:06:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:22 [info] currentZPosition:0.175
2025-04-24 12:06:23 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:23 [debug] Diagnostics for board 50:
2025-04-24 12:06:23 [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 12:06:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:28 ago, cause: software
2025-04-24 12:06:23 [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 12:06:23 [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 12:06:23 [debug] Moves scheduled 23614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6637, max=17045
Sync err accum 66, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:06:23 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16569, writes 0 timeouts 0
2025-04-24 12:06:23 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37178
2025-04-24 12:06:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:23 [info] currentZPosition:0.175
2025-04-24 12:06:24 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:24 [debug] Diagnostics for board 50:
2025-04-24 12:06:24 [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 12:06:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:29 ago, cause: software
2025-04-24 12:06:24 [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 12:06:24 [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 12:06:24 [debug] Moves scheduled 23618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:24 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17076, writes 0 timeouts 0
2025-04-24 12:06:24 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37178
2025-04-24 12:06:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:24 [info] currentZPosition:0.175
2025-04-24 12:06:26 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:26 [debug] Diagnostics for board 50:
2025-04-24 12:06:26 [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 12:06:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:30 ago, cause: software
2025-04-24 12:06:26 [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 12:06:26 [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 12:06:26 [debug] Moves scheduled 23622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6000, max=17045
Sync err accum 78, peak jitter 2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:26 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16724, writes 0 timeouts 0
2025-04-24 12:06:26 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36401/37175
2025-04-24 12:06:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:26 [info] currentZPosition:0.175
2025-04-24 12:06:27 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:27 [debug] Diagnostics for board 50:
2025-04-24 12:06:27 [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 12:06:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:32 ago, cause: software
2025-04-24 12:06:27 [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 12:06:27 [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 12:06:27 [debug] Moves scheduled 23626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 85, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:27 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17113, writes 0 timeouts 0
2025-04-24 12:06:27 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37175
2025-04-24 12:06:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:27 [info] currentZPosition:0.175
2025-04-24 12:06:28 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:28 [debug] Diagnostics for board 50:
2025-04-24 12:06:28 [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 12:06:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:33 ago, cause: software
2025-04-24 12:06:28 [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 12:06:28 [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 12:06:28 [debug] Moves scheduled 23630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 95, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:28 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16596, writes 0 timeouts 0
2025-04-24 12:06:28 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36395/37175
2025-04-24 12:06:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:28 [info] currentZPosition:0.175
2025-04-24 12:06:30 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:30 [debug] Diagnostics for board 50:
2025-04-24 12:06:30 [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 12:06:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:34 ago, cause: software
2025-04-24 12:06:30 [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 12:06:30 [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 12:06:30 [debug] Moves scheduled 23634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=18292
Sync err accum 102, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:30 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17272, writes 0 timeouts 0
2025-04-24 12:06:30 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37171
2025-04-24 12:06:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:30 [info] currentZPosition:0.175
2025-04-24 12:06:31 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:31 [debug] Diagnostics for board 50:
2025-04-24 12:06:31 [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 12:06:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:36 ago, cause: software
2025-04-24 12:06:31 [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 12:06:31 [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 12:06:31 [debug] Moves scheduled 23638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6198, max=17857
Sync err accum 104, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:31 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16678, writes 0 timeouts 0
2025-04-24 12:06:31 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37174
2025-04-24 12:06:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:31 [info] currentZPosition:0.175
2025-04-24 12:06:32 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:32 [debug] Diagnostics for board 50:
2025-04-24 12:06:32 [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 12:06:32 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:37 ago, cause: software
2025-04-24 12:06:32 [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 12:06:32 [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 12:06:32 [debug] Moves scheduled 23642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=7009, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:06:32 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17249, writes 0 timeouts 0
2025-04-24 12:06:32 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37172
2025-04-24 12:06:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:32 [info] currentZPosition:0.174
2025-04-24 12:06:34 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:34 [debug] Diagnostics for board 50:
2025-04-24 12:06:34 [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 12:06:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:39 ago, cause: software
2025-04-24 12:06:34 [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 12:06:34 [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 12:06:34 [debug] Moves scheduled 23646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 101, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:06:34 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16365, writes 0 timeouts 0
2025-04-24 12:06:34 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36282/37177
2025-04-24 12:06:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:34 [info] currentZPosition:0.175
2025-04-24 12:06:35 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:35 [debug] Diagnostics for board 50:
2025-04-24 12:06:35 [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 12:06:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:40 ago, cause: software
2025-04-24 12:06:35 [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 12:06:35 [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 12:06:35 [debug] Moves scheduled 23650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 97, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:35 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17486, writes 0 timeouts 0
2025-04-24 12:06:35 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37178
2025-04-24 12:06:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:35 [info] currentZPosition:0.174
2025-04-24 12:06:36 [debug] Stopped at height 0.176 mm
2025-04-24 12:06:36 [debug] Diagnostics for board 50:
2025-04-24 12:06:36 [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 12:06:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:41 ago, cause: software
2025-04-24 12:06:36 [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 12:06:36 [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 12:06:36 [debug] Moves scheduled 23654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6465, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:36 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16073, writes 0 timeouts 0
2025-04-24 12:06:36 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36161/37176
2025-04-24 12:06:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:36 [info] currentZPosition:0.176
2025-04-24 12:06:37 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:38 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:38 [debug] Diagnostics for board 50:
2025-04-24 12:06:38 [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 12:06:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:43 ago, cause: software
2025-04-24 12:06:38 [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 12:06:38 [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 12:06:38 [debug] Moves scheduled 23660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=110, frequency (Hz): min=6756, max=17045
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:06:38 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21377, writes 0 timeouts 0
2025-04-24 12:06:38 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37177
2025-04-24 12:06:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:38 [info] currentZPosition:0.175
2025-04-24 12:06:39 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:39 [debug] Diagnostics for board 50:
2025-04-24 12:06:39 [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 12:06:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:44 ago, cause: software
2025-04-24 12:06:39 [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 12:06:39 [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 12:06:39 [debug] Moves scheduled 23664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=114, frequency (Hz): min=6198, max=17045
Sync err accum 70, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:06:39 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16678, writes 0 timeouts 0
2025-04-24 12:06:39 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37176
2025-04-24 12:06:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:39 [info] currentZPosition:0.174
2025-04-24 12:06:41 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:41 [debug] Diagnostics for board 50:
2025-04-24 12:06:41 [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 12:06:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:46 ago, cause: software
2025-04-24 12:06:41 [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 12:06:41 [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 12:06:41 [debug] Moves scheduled 23668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:41 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16941, writes 0 timeouts 0
2025-04-24 12:06:41 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37179
2025-04-24 12:06:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:41 [info] currentZPosition:0.175
2025-04-24 12:06:42 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:42 [debug] Diagnostics for board 50:
2025-04-24 12:06:42 [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 12:06:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:47 ago, cause: software
2025-04-24 12:06:42 [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 12:06:42 [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 12:06:42 [debug] Moves scheduled 23672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 71, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:42 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16522, writes 0 timeouts 0
2025-04-24 12:06:42 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36166/37175
2025-04-24 12:06:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:42 [info] currentZPosition:0.175
2025-04-24 12:06:43 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:43 [debug] Diagnostics for board 50:
2025-04-24 12:06:43 [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 12:06:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:48 ago, cause: software
2025-04-24 12:06:43 [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 12:06:43 [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 12:06:43 [debug] Moves scheduled 23676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:43 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17204, writes 0 timeouts 0
2025-04-24 12:06:43 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37175
2025-04-24 12:06:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:44 [info] currentZPosition:0.175
2025-04-24 12:06:45 [debug] Stopped at height 0.174 mm
2025-04-24 12:06:45 [debug] Diagnostics for board 50:
2025-04-24 12:06:45 [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 12:06:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:50 ago, cause: software
2025-04-24 12:06:45 [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 12:06:45 [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 12:06:45 [debug] Moves scheduled 23680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 82, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294936753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:45 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16829, writes 0 timeouts 0
2025-04-24 12:06:45 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37175
2025-04-24 12:06:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:45 [info] currentZPosition:0.174
2025-04-24 12:06:46 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:46 [debug] Diagnostics for board 50:
2025-04-24 12:06:46 [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 12:06:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:51 ago, cause: software
2025-04-24 12:06:46 [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 12:06:46 [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 12:06:46 [debug] Moves scheduled 23684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 83, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:46 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17109, writes 0 timeouts 0
2025-04-24 12:06:46 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37173
2025-04-24 12:06:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:46 [info] currentZPosition:0.175
2025-04-24 12:06:47 [debug] Stopped at height 0.176 mm
2025-04-24 12:06:47 [debug] Diagnostics for board 50:
2025-04-24 12:06:47 [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 12:06:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:52 ago, cause: software
2025-04-24 12:06:47 [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 12:06:47 [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 12:06:47 [debug] Moves scheduled 23688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17045
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 4294930741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:47 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16316, writes 0 timeouts 0
2025-04-24 12:06:47 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37176
2025-04-24 12:06:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:48 [info] currentZPosition:0.176
2025-04-24 12:06:49 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:49 [debug] Diagnostics for board 50:
2025-04-24 12:06:49 [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 12:06:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:54 ago, cause: software
2025-04-24 12:06:49 [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 12:06:49 [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 12:06:49 [debug] Moves scheduled 23692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 81, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:49 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17452, writes 0 timeouts 0
2025-04-24 12:06:49 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35983/37174
2025-04-24 12:06:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:49 [info] currentZPosition:0.175
2025-04-24 12:06:50 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:50 [debug] Diagnostics for board 50:
2025-04-24 12:06:50 [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 12:06:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:55 ago, cause: software
2025-04-24 12:06:50 [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 12:06:50 [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 12:06:50 [debug] Moves scheduled 23696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
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 4294935126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:50 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16640, writes 0 timeouts 0
2025-04-24 12:06:50 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37173
2025-04-24 12:06:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:50 [info] currentZPosition:0.175
2025-04-24 12:06:52 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:52 [debug] Diagnostics for board 50:
2025-04-24 12:06:52 [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 12:06:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:56 ago, cause: software
2025-04-24 12:06:52 [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 12:06:52 [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 12:06:52 [debug] Moves scheduled 23700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294930980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:06:52 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17285, writes 0 timeouts 0
2025-04-24 12:06:52 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37172
2025-04-24 12:06:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:52 [info] currentZPosition:0.175
2025-04-24 12:06:53 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:53 [debug] Diagnostics for board 50:
2025-04-24 12:06:53 [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 12:06:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:58 ago, cause: software
2025-04-24 12:06:53 [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 12:06:53 [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 12:06:53 [debug] Moves scheduled 23704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6410, max=17857
Sync err accum 63, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:06:53 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16451, writes 0 timeouts 0
2025-04-24 12:06:53 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37179
2025-04-24 12:06:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:53 [info] currentZPosition:0.175
2025-04-24 12:06:54 [debug] Stopped at height 0.176 mm
2025-04-24 12:06:54 [debug] Diagnostics for board 50:
2025-04-24 12:06:54 [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 12:06:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:08:59 ago, cause: software
2025-04-24 12:06:54 [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 12:06:54 [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 12:06:54 [debug] Moves scheduled 23708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 77, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:54 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16931, writes 0 timeouts 0
2025-04-24 12:06:54 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36108/37172
2025-04-24 12:06:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:54 [info] currentZPosition:0.176
2025-04-24 12:06:56 [debug] Stopped at height 0.176 mm
2025-04-24 12:06:56 [debug] Diagnostics for board 50:
2025-04-24 12:06:56 [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 12:06:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:00 ago, cause: software
2025-04-24 12:06:56 [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 12:06:56 [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 12:06:56 [debug] Moves scheduled 23712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6000, max=17857
Sync err accum 84, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294933544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:56 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min 0, mspos 104, reads 16480, writes 0 timeouts 0
2025-04-24 12:06:56 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37172
2025-04-24 12:06:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 816
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:56 [info] currentZPosition:0.176
2025-04-24 12:06:57 [debug] Stopped at height 0.176 mm
2025-04-24 12:06:57 [debug] Diagnostics for board 50:
2025-04-24 12:06:57 [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 12:06:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:02 ago, cause: software
2025-04-24 12:06:57 [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 12:06:57 [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 12:06:57 [debug] Moves scheduled 23716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 92, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:57 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min 0, mspos 88, reads 17189, writes 0 timeouts 0
2025-04-24 12:06:57 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36110/37174
2025-04-24 12:06:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:57 [info] currentZPosition:0.176
2025-04-24 12:06:58 [debug] Stopped at height 0.175 mm
2025-04-24 12:06:58 [debug] Diagnostics for board 50:
2025-04-24 12:06:58 [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 12:06:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:03 ago, cause: software
2025-04-24 12:06:58 [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 12:06:58 [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 12:06:58 [debug] Moves scheduled 23720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 94, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:06:58 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16824, writes 0 timeouts 0
2025-04-24 12:06:58 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37173
2025-04-24 12:06:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:06:58 [info] currentZPosition:0.175
2025-04-24 12:07:00 [debug] Stopped at height 0.174 mm
2025-04-24 12:07:00 [debug] Diagnostics for board 50:
2025-04-24 12:07:00 [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 12:07:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:05 ago, cause: software
2025-04-24 12:07:00 [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 12:07:00 [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 12:07:00 [debug] Moves scheduled 23724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 100, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:00 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17632, writes 0 timeouts 0
2025-04-24 12:07:00 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37173
2025-04-24 12:07:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:00 [info] currentZPosition:0.174
2025-04-24 12:07:00 [debug] Stopped at height 0.173 mm
2025-04-24 12:07:01 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:01 [debug] Diagnostics for board 50:
2025-04-24 12:07:01 [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 12:07:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:06 ago, cause: software
2025-04-24 12:07:01 [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 12:07:01 [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 12:07:01 [debug] Moves scheduled 23730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5769, max=17045
Sync err accum 100, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:01 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20284, writes 0 timeouts 0
2025-04-24 12:07:01 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36166/37176
2025-04-24 12:07:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:01 [info] currentZPosition:0.175
2025-04-24 12:07:02 [debug] Stopped at height 0.174 mm
2025-04-24 12:07:03 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:03 [debug] Diagnostics for board 50:
2025-04-24 12:07:03 [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 12:07:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:08 ago, cause: software
2025-04-24 12:07:03 [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 12:07:03 [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 12:07:03 [debug] Moves scheduled 23736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17857
Sync err accum 98, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933171 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:03 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20951, writes 0 timeouts 0
2025-04-24 12:07:03 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 286, adv 36096/37176
2025-04-24 12:07:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:03 [info] currentZPosition:0.175
2025-04-24 12:07:04 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:04 [debug] Diagnostics for board 50:
2025-04-24 12:07:04 [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 12:07:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:09 ago, cause: software
2025-04-24 12:07:04 [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 12:07:04 [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 12:07:04 [debug] Moves scheduled 23740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:04 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16524, writes 0 timeouts 0
2025-04-24 12:07:04 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36163/37175
2025-04-24 12:07:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:04 [info] currentZPosition:0.175
2025-04-24 12:07:06 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:06 [debug] Diagnostics for board 50:
2025-04-24 12:07:06 [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 12:07:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:11 ago, cause: software
2025-04-24 12:07:06 [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 12:07:06 [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 12:07:06 [debug] Moves scheduled 23744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6097, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936010 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:06 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17263, writes 0 timeouts 0
2025-04-24 12:07:06 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37176
2025-04-24 12:07:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:06 [info] currentZPosition:0.175
2025-04-24 12:07:07 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:07 [debug] Diagnostics for board 50:
2025-04-24 12:07:07 [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 12:07:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:12 ago, cause: software
2025-04-24 12:07:07 [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 12:07:07 [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 12:07:07 [debug] Moves scheduled 23748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=137, frequency (Hz): min=6048, max=17045
Sync err accum 80, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:07:07 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16387, writes 0 timeouts 0
2025-04-24 12:07:07 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36160/37178
2025-04-24 12:07:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:07 [info] currentZPosition:0.176
2025-04-24 12:07:08 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:08 [debug] Diagnostics for board 50:
2025-04-24 12:07:08 [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 12:07:08 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:13 ago, cause: software
2025-04-24 12:07:08 [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 12:07:08 [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 12:07:08 [debug] Moves scheduled 23752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 64, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:08 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17207, writes 0 timeouts 0
2025-04-24 12:07:08 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37176
2025-04-24 12:07:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:08 [info] currentZPosition:0.176
2025-04-24 12:07:10 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:10 [debug] Diagnostics for board 50:
2025-04-24 12:07:10 [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 12:07:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:15 ago, cause: software
2025-04-24 12:07:10 [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 12:07:10 [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 12:07:10 [debug] Moves scheduled 23756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 65, peak jitter -2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:10 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16818, writes 0 timeouts 0
2025-04-24 12:07:10 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36158/37177
2025-04-24 12:07:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:10 [info] currentZPosition:0.175
2025-04-24 12:07:11 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:11 [debug] Diagnostics for board 50:
2025-04-24 12:07:11 [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 12:07:11 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:16 ago, cause: software
2025-04-24 12:07:11 [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 12:07:11 [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 12:07:11 [debug] Moves scheduled 23760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 81, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:11 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16856, writes 0 timeouts 0
2025-04-24 12:07:11 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36102/37175
2025-04-24 12:07:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:11 [info] currentZPosition:0.176
2025-04-24 12:07:12 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:12 [debug] Diagnostics for board 50:
2025-04-24 12:07:12 [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 12:07:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:17 ago, cause: software
2025-04-24 12:07:12 [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 12:07:12 [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 12:07:12 [debug] Moves scheduled 23764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 94, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:12 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16843, writes 0 timeouts 0
2025-04-24 12:07:12 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36147/37174
2025-04-24 12:07:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:13 [info] currentZPosition:0.175
2025-04-24 12:07:14 [debug] Stopped at height 0.174 mm
2025-04-24 12:07:14 [debug] Diagnostics for board 50:
2025-04-24 12:07:14 [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 12:07:14 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:19 ago, cause: software
2025-04-24 12:07:14 [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 12:07:14 [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 12:07:14 [debug] Moves scheduled 23768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 103, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:14 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17533, writes 0 timeouts 0
2025-04-24 12:07:14 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36115/37174
2025-04-24 12:07:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:14 [info] currentZPosition:0.174
2025-04-24 12:07:15 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:15 [debug] Diagnostics for board 50:
2025-04-24 12:07:15 [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 12:07:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:20 ago, cause: software
2025-04-24 12:07:15 [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 12:07:15 [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 12:07:15 [debug] Moves scheduled 23772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 108, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:15 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16302, writes 0 timeouts 0
2025-04-24 12:07:15 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37173
2025-04-24 12:07:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:15 [info] currentZPosition:0.175
2025-04-24 12:07:17 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:17 [debug] Diagnostics for board 50:
2025-04-24 12:07:17 [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 12:07:17 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:21 ago, cause: software
2025-04-24 12:07:17 [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 12:07:17 [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 12:07:17 [debug] Moves scheduled 23776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 113, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:17 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16905, writes 0 timeouts 0
2025-04-24 12:07:17 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36095/37175
2025-04-24 12:07:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:17 [info] currentZPosition:0.176
2025-04-24 12:07:18 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:18 [debug] Diagnostics for board 50:
2025-04-24 12:07:18 [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 12:07:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:23 ago, cause: software
2025-04-24 12:07:18 [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 12:07:18 [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 12:07:18 [debug] Moves scheduled 23780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
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 4294933760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:18 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16842, writes 0 timeouts 0
2025-04-24 12:07:18 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37174
2025-04-24 12:07:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:18 [info] currentZPosition:0.175
2025-04-24 12:07:19 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:19 [debug] Diagnostics for board 50:
2025-04-24 12:07:19 [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 12:07:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:24 ago, cause: software
2025-04-24 12:07:19 [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 12:07:19 [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 12:07:19 [debug] Moves scheduled 23784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6756, max=17045
Sync err accum 112, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:07:19 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16900, writes 0 timeouts 0
2025-04-24 12:07:19 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37175
2025-04-24 12:07:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:19 [info] currentZPosition:0.176
2025-04-24 12:07:21 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:21 [debug] Diagnostics for board 50:
2025-04-24 12:07:21 [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 12:07:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:25 ago, cause: software
2025-04-24 12:07:21 [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 12:07:21 [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 12:07:21 [debug] Moves scheduled 23788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 109, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:21 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16520, writes 0 timeouts 0
2025-04-24 12:07:21 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37176
2025-04-24 12:07:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:21 [info] currentZPosition:0.176
2025-04-24 12:07:22 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:22 [debug] Diagnostics for board 50:
2025-04-24 12:07:22 [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 12:07:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:27 ago, cause: software
2025-04-24 12:07:22 [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 12:07:22 [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 12:07:22 [debug] Moves scheduled 23792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6355, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294935056 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:22 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17688, writes 0 timeouts 0
2025-04-24 12:07:22 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36096/37178
2025-04-24 12:07:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9174, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:22 [info] currentZPosition:0.175
2025-04-24 12:07:22 [debug] Stopped at height 0.174 mm
2025-04-24 12:07:24 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:24 [debug] Diagnostics for board 50:
2025-04-24 12:07:24 [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 12:07:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:28 ago, cause: software
2025-04-24 12:07:24 [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 12:07:24 [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 12:07:24 [debug] Moves scheduled 23798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 97, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:07:24 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20130, writes 0 timeouts 0
2025-04-24 12:07:24 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36166/37178
2025-04-24 12:07:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:24 [info] currentZPosition:0.176
2025-04-24 12:07:24 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:25 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:25 [debug] Diagnostics for board 50:
2025-04-24 12:07:25 [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 12:07:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:30 ago, cause: software
2025-04-24 12:07:25 [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 12:07:25 [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 12:07:25 [debug] Moves scheduled 23804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=18292
Sync err accum 82, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:25 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 21195, writes 0 timeouts 0
2025-04-24 12:07:25 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37178
2025-04-24 12:07:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:25 [info] currentZPosition:0.176
2025-04-24 12:07:27 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:27 [debug] Diagnostics for board 50:
2025-04-24 12:07:27 [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 12:07:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:31 ago, cause: software
2025-04-24 12:07:27 [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 12:07:27 [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 12:07:27 [debug] Moves scheduled 23808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 67, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:07:27 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16521, writes 0 timeouts 0
2025-04-24 12:07:27 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36286/37176
2025-04-24 12:07:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:27 [info] currentZPosition:0.176
2025-04-24 12:07:28 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:28 [debug] Diagnostics for board 50:
2025-04-24 12:07:28 [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 12:07:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:33 ago, cause: software
2025-04-24 12:07:28 [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 12:07:28 [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 12:07:28 [debug] Moves scheduled 23812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=17857
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 4294932973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:28 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 16995, writes 0 timeouts 0
2025-04-24 12:07:28 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37175
2025-04-24 12:07:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:28 [info] currentZPosition:0.176
2025-04-24 12:07:29 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:29 [debug] Diagnostics for board 50:
2025-04-24 12:07:29 [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 12:07:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:34 ago, cause: software
2025-04-24 12:07:29 [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 12:07:29 [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 12:07:29 [debug] Moves scheduled 23816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 71, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294925732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:29 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17321, writes 0 timeouts 0
2025-04-24 12:07:29 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37173
2025-04-24 12:07:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:29 [info] currentZPosition:0.175
2025-04-24 12:07:30 [debug] Stopped at height 0.174 mm
2025-04-24 12:07:31 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:31 [debug] Diagnostics for board 50:
2025-04-24 12:07:31 [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 12:07:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:36 ago, cause: software
2025-04-24 12:07:31 [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 12:07:31 [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 12:07:31 [debug] Moves scheduled 23822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294936098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:31 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20888, writes 0 timeouts 0
2025-04-24 12:07:31 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 12:07:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:31 [info] currentZPosition:0.175
2025-04-24 12:07:31 [debug] Stopped at height 0.178 mm
2025-04-24 12:07:32 [debug] Stopped at height 0.177 mm
2025-04-24 12:07:33 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:33 [debug] Diagnostics for board 50:
2025-04-24 12:07:33 [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 12:07:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:38 ago, cause: software
2025-04-24 12:07:33 [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 12:07:33 [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 12:07:33 [debug] Moves scheduled 23830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6637, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:33 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 24666, writes 0 timeouts 0
2025-04-24 12:07:33 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 285, adv 36404/37176
2025-04-24 12:07:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:33 [info] currentZPosition:0.176
2025-04-24 12:07:33 [debug] Stopped at height 0.178 mm
2025-04-24 12:07:35 [debug] Stopped at height 0.177 mm
2025-04-24 12:07:35 [debug] Diagnostics for board 50:
2025-04-24 12:07:35 [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 12:07:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:39 ago, cause: software
2025-04-24 12:07:35 [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 12:07:35 [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 12:07:35 [debug] Moves scheduled 23836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 78, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:35 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min 0, mspos 136, reads 20712, writes 0 timeouts 0
2025-04-24 12:07:35 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36086/37177
2025-04-24 12:07:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:35 [info] currentZPosition:0.177
2025-04-24 12:07:36 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:36 [debug] Diagnostics for board 50:
2025-04-24 12:07:36 [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 12:07:36 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:41 ago, cause: software
2025-04-24 12:07:36 [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 12:07:36 [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 12:07:36 [debug] Moves scheduled 23840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 73, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294936392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:36 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16925, writes 0 timeouts 0
2025-04-24 12:07:36 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36394/37177
2025-04-24 12:07:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:36 [info] currentZPosition:0.176
2025-04-24 12:07:37 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:37 [debug] Diagnostics for board 50:
2025-04-24 12:07:37 [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 12:07:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:42 ago, cause: software
2025-04-24 12:07:37 [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 12:07:37 [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 12:07:37 [debug] Moves scheduled 23844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=93, frequency (Hz): min=6880, max=17045
Sync err accum 67, peak jitter -1/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:37 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17086, writes 0 timeouts 0
2025-04-24 12:07:37 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37174
2025-04-24 12:07:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:37 [info] currentZPosition:0.176
2025-04-24 12:07:39 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:39 [debug] Diagnostics for board 50:
2025-04-24 12:07:39 [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 12:07:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:44 ago, cause: software
2025-04-24 12:07:39 [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 12:07:39 [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 12:07:39 [debug] Moves scheduled 23848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6756, max=17045
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 4294930355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:39 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16718, writes 0 timeouts 0
2025-04-24 12:07:39 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36394/37173
2025-04-24 12:07:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:39 [info] currentZPosition:0.176
2025-04-24 12:07:40 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:40 [debug] Diagnostics for board 50:
2025-04-24 12:07:40 [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 12:07:40 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:45 ago, cause: software
2025-04-24 12:07:40 [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 12:07:40 [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 12:07:40 [debug] Moves scheduled 23852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6818, max=17045
Sync err accum 75, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:40 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17211, writes 0 timeouts 0
2025-04-24 12:07:40 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 12:07:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:40 [info] currentZPosition:0.176
2025-04-24 12:07:41 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:41 [debug] Diagnostics for board 50:
2025-04-24 12:07:41 [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 12:07:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:46 ago, cause: software
2025-04-24 12:07:41 [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 12:07:41 [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 12:07:41 [debug] Moves scheduled 23856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6756, max=17857
Sync err accum 81, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:41 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16582, writes 0 timeouts 0
2025-04-24 12:07:41 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37173
2025-04-24 12:07:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:41 [info] currentZPosition:0.176
2025-04-24 12:07:43 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:43 [debug] Diagnostics for board 50:
2025-04-24 12:07:43 [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 12:07:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:48 ago, cause: software
2025-04-24 12:07:43 [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 12:07:43 [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 12:07:43 [debug] Moves scheduled 23860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17857
Sync err accum 83, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294932358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:43 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17035, writes 0 timeouts 0
2025-04-24 12:07:43 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36105/37175
2025-04-24 12:07:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:43 [info] currentZPosition:0.176
2025-04-24 12:07:44 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:44 [debug] Diagnostics for board 50:
2025-04-24 12:07:44 [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 12:07:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:49 ago, cause: software
2025-04-24 12:07:44 [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 12:07:44 [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 12:07:44 [debug] Moves scheduled 23864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:44 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17044, writes 0 timeouts 0
2025-04-24 12:07:44 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36404/37175
2025-04-24 12:07:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:44 [info] currentZPosition:0.175
2025-04-24 12:07:45 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:45 [debug] Diagnostics for board 50:
2025-04-24 12:07:45 [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 12:07:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:50 ago, cause: software
2025-04-24 12:07:45 [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 12:07:45 [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 12:07:45 [debug] Moves scheduled 23868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17857
Sync err accum 77, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294934712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:45 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16882, writes 0 timeouts 0
2025-04-24 12:07:45 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 12:07:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:46 [info] currentZPosition:0.176
2025-04-24 12:07:47 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:47 [debug] Diagnostics for board 50:
2025-04-24 12:07:47 [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 12:07:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:52 ago, cause: software
2025-04-24 12:07:47 [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 12:07:47 [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 12:07:47 [debug] Moves scheduled 23872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=7075, max=17857
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:47 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16597, writes 0 timeouts 0
2025-04-24 12:07:47 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36404/37174
2025-04-24 12:07:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:47 [info] currentZPosition:0.176
2025-04-24 12:07:48 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:48 [debug] Diagnostics for board 50:
2025-04-24 12:07:48 [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 12:07:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:53 ago, cause: software
2025-04-24 12:07:48 [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 12:07:48 [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 12:07:48 [debug] Moves scheduled 23876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 63, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:48 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17179, writes 0 timeouts 0
2025-04-24 12:07:48 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36098/37176
2025-04-24 12:07:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:48 [info] currentZPosition:0.176
2025-04-24 12:07:50 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:50 [debug] Diagnostics for board 50:
2025-04-24 12:07:50 [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 12:07:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:54 ago, cause: software
2025-04-24 12:07:50 [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 12:07:50 [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 12:07:50 [debug] Moves scheduled 23880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6880, max=17857
Sync err accum 72, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294928245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:50 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16736, writes 0 timeouts 0
2025-04-24 12:07:50 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36399/37171
2025-04-24 12:07:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:50 [info] currentZPosition:0.176
2025-04-24 12:07:51 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:51 [debug] Diagnostics for board 50:
2025-04-24 12:07:51 [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 12:07:51 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:56 ago, cause: software
2025-04-24 12:07:51 [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 12:07:51 [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 12:07:51 [debug] Moves scheduled 23884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:51 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17362, writes 0 timeouts 0
2025-04-24 12:07:51 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37172
2025-04-24 12:07:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:51 [info] currentZPosition:0.176
2025-04-24 12:07:52 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:52 [debug] Diagnostics for board 50:
2025-04-24 12:07:52 [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 12:07:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:57 ago, cause: software
2025-04-24 12:07:52 [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 12:07:52 [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 12:07:52 [debug] Moves scheduled 23888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6147, max=17857
Sync err accum 97, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294935527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:07:52 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16665, writes 0 timeouts 0
2025-04-24 12:07:52 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37171
2025-04-24 12:07:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:52 [info] currentZPosition:0.175
2025-04-24 12:07:54 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:54 [debug] Diagnostics for board 50:
2025-04-24 12:07:54 [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 12:07:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:09:58 ago, cause: software
2025-04-24 12:07:54 [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 12:07:54 [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 12:07:54 [debug] Moves scheduled 23892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 102, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:54 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16955, writes 0 timeouts 0
2025-04-24 12:07:54 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37173
2025-04-24 12:07:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:54 [info] currentZPosition:0.176
2025-04-24 12:07:55 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:55 [debug] Diagnostics for board 50:
2025-04-24 12:07:55 [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 12:07:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:00 ago, cause: software
2025-04-24 12:07:55 [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 12:07:55 [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 12:07:55 [debug] Moves scheduled 23896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17857
Sync err accum 110, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:55 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16890, writes 0 timeouts 0
2025-04-24 12:07:55 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36399/37175
2025-04-24 12:07:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:55 [info] currentZPosition:0.176
2025-04-24 12:07:56 [debug] Stopped at height 0.175 mm
2025-04-24 12:07:56 [debug] Diagnostics for board 50:
2025-04-24 12:07:56 [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 12:07:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:01 ago, cause: software
2025-04-24 12:07:56 [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 12:07:56 [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 12:07:56 [debug] Moves scheduled 23900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 112, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:07:56 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17402, writes 0 timeouts 0
2025-04-24 12:07:56 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37174
2025-04-24 12:07:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9207, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:56 [info] currentZPosition:0.175
2025-04-24 12:07:58 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:58 [debug] Diagnostics for board 50:
2025-04-24 12:07:58 [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 12:07:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:02 ago, cause: software
2025-04-24 12:07:58 [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 12:07:58 [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 12:07:58 [debug] Moves scheduled 23904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6250, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967248 ticks, enabled, next step interrupt due in 4294933380 ticks, disabled
VIN 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 12:07:58 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16268, writes 0 timeouts 0
2025-04-24 12:07:58 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36404/37170
2025-04-24 12:07:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:58 [info] currentZPosition:0.176
2025-04-24 12:07:59 [debug] Stopped at height 0.176 mm
2025-04-24 12:07:59 [debug] Diagnostics for board 50:
2025-04-24 12:07:59 [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 12:07:59 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:04 ago, cause: software
2025-04-24 12:07:59 [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 12:07:59 [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 12:07:59 [debug] Moves scheduled 23908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6302, max=17045
Sync err accum 108, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:07:59 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17150, writes 0 timeouts 0
2025-04-24 12:07:59 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36111/37176
2025-04-24 12:07:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:07:59 [info] currentZPosition:0.176
2025-04-24 12:08:00 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:00 [debug] Diagnostics for board 50:
2025-04-24 12:08:00 [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 12:08:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:05 ago, cause: software
2025-04-24 12:08:00 [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 12:08:00 [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 12:08:00 [debug] Moves scheduled 23912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 106, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:00 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16298, writes 0 timeouts 0
2025-04-24 12:08:00 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36405/37178
2025-04-24 12:08:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:00 [info] currentZPosition:0.177
2025-04-24 12:08:02 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:02 [debug] Diagnostics for board 50:
2025-04-24 12:08:02 [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 12:08:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:07 ago, cause: software
2025-04-24 12:08:02 [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 12:08:02 [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 12:08:02 [debug] Moves scheduled 23916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 100, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:08:02 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17562, writes 0 timeouts 0
2025-04-24 12:08:02 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37176
2025-04-24 12:08:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:02 [info] currentZPosition:0.176
2025-04-24 12:08:03 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:03 [debug] Diagnostics for board 50:
2025-04-24 12:08:03 [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 12:08:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:08 ago, cause: software
2025-04-24 12:08:03 [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 12:08:03 [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 12:08:03 [debug] Moves scheduled 23920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:08:03 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16569, writes 0 timeouts 0
2025-04-24 12:08:03 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37177
2025-04-24 12:08:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:03 [info] currentZPosition:0.176
2025-04-24 12:08:04 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:04 [debug] Diagnostics for board 50:
2025-04-24 12:08:04 [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 12:08:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:09 ago, cause: software
2025-04-24 12:08:04 [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 12:08:04 [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 12:08:04 [debug] Moves scheduled 23924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17857
Sync err accum 81, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:04 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16994, writes 0 timeouts 0
2025-04-24 12:08:04 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37174
2025-04-24 12:08:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:04 [info] currentZPosition:0.176
2025-04-24 12:08:06 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:06 [debug] Diagnostics for board 50:
2025-04-24 12:08:06 [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 12:08:06 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:11 ago, cause: software
2025-04-24 12:08:06 [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 12:08:06 [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 12:08:06 [debug] Moves scheduled 23928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=645, max=17045
Sync err accum 67, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:06 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16569, writes 11 timeouts 1
2025-04-24 12:08:06 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36402/37177
2025-04-24 12:08:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:06 [info] currentZPosition:0.176
2025-04-24 12:08:07 [debug] Stopped at height 0.174 mm
2025-04-24 12:08:07 [debug] Diagnostics for board 50:
2025-04-24 12:08:07 [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 12:08:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:12 ago, cause: software
2025-04-24 12:08:07 [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 12:08:07 [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 12:08:07 [debug] Moves scheduled 23932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:07 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17721, writes 0 timeouts 0
2025-04-24 12:08:07 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37179
2025-04-24 12:08:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9219, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:07 [info] currentZPosition:0.174
2025-04-24 12:08:08 [debug] Stopped at height 0.174 mm
2025-04-24 12:08:09 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:09 [debug] Diagnostics for board 50:
2025-04-24 12:08:09 [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 12:08:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:14 ago, cause: software
2025-04-24 12:08:09 [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 12:08:09 [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 12:08:09 [debug] Moves scheduled 23938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 78, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:08:09 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20049, writes 0 timeouts 0
2025-04-24 12:08:09 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37175
2025-04-24 12:08:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:09 [info] currentZPosition:0.176
2025-04-24 12:08:09 [debug] Stopped at height 0.175 mm
2025-04-24 12:08:10 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:10 [debug] Diagnostics for board 50:
2025-04-24 12:08:10 [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 12:08:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:15 ago, cause: software
2025-04-24 12:08:10 [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 12:08:10 [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 12:08:10 [debug] Moves scheduled 23944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:10 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20869, writes 0 timeouts 0
2025-04-24 12:08:10 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 12:08:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:11 [info] currentZPosition:0.177
2025-04-24 12:08:11 [debug] Stopped at height 0.175 mm
2025-04-24 12:08:12 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:12 [debug] Diagnostics for board 50:
2025-04-24 12:08:12 [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 12:08:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:17 ago, cause: software
2025-04-24 12:08:12 [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 12:08:12 [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 12:08:12 [debug] Moves scheduled 23950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17857
Sync err accum 98, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:12 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20653, writes 0 timeouts 0
2025-04-24 12:08:12 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36400/37173
2025-04-24 12:08:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:12 [info] currentZPosition:0.176
2025-04-24 12:08:13 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:13 [debug] Diagnostics for board 50:
2025-04-24 12:08:13 [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 12:08:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:18 ago, cause: software
2025-04-24 12:08:13 [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 12:08:13 [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 12:08:13 [debug] Moves scheduled 23954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:13 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 17020, writes 0 timeouts 0
2025-04-24 12:08:13 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36100/37176
2025-04-24 12:08:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:14 [info] currentZPosition:0.177
2025-04-24 12:08:15 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:15 [debug] Diagnostics for board 50:
2025-04-24 12:08:15 [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 12:08:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:20 ago, cause: software
2025-04-24 12:08:15 [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 12:08:15 [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 12:08:15 [debug] Moves scheduled 23958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 106, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294928757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:15 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16793, writes 0 timeouts 0
2025-04-24 12:08:15 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36402/37171
2025-04-24 12:08:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:15 [info] currentZPosition:0.176
2025-04-24 12:08:16 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:16 [debug] Diagnostics for board 50:
2025-04-24 12:08:16 [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 12:08:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:21 ago, cause: software
2025-04-24 12:08:16 [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 12:08:16 [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 12:08:16 [debug] Moves scheduled 23962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 105, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294934863 ticks, disabled
VIN 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 12:08:16 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16982, writes 0 timeouts 0
2025-04-24 12:08:16 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37178
2025-04-24 12:08:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:16 [info] currentZPosition:0.177
2025-04-24 12:08:18 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:18 [debug] Diagnostics for board 50:
2025-04-24 12:08:18 [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 12:08:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:22 ago, cause: software
2025-04-24 12:08:18 [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 12:08:18 [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 12:08:18 [debug] Moves scheduled 23966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=78, frequency (Hz): min=6147, max=17045
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 4294903549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:18 [debug] Driver 0: pos -3523, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 17358, writes 0 timeouts 0
2025-04-24 12:08:18 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36401/37171
2025-04-24 12:08:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:18 [info] currentZPosition:0.177
2025-04-24 12:08:19 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:19 [debug] Diagnostics for board 50:
2025-04-24 12:08:19 [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 12:08:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:24 ago, cause: software
2025-04-24 12:08:19 [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 12:08:19 [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 12:08:19 [debug] Moves scheduled 23970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294930431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:19 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17117, writes 0 timeouts 0
2025-04-24 12:08:19 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36111/37176
2025-04-24 12:08:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:19 [info] currentZPosition:0.177
2025-04-24 12:08:20 [debug] Stopped at height 0.178 mm
2025-04-24 12:08:20 [debug] Diagnostics for board 50:
2025-04-24 12:08:20 [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 12:08:20 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:25 ago, cause: software
2025-04-24 12:08:20 [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 12:08:20 [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 12:08:20 [debug] Moves scheduled 23974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 91, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:20 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16433, writes 0 timeouts 0
2025-04-24 12:08:20 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36288/37176
2025-04-24 12:08:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:20 [info] currentZPosition:0.178
2025-04-24 12:08:22 [debug] Stopped at height 0.175 mm
2025-04-24 12:08:22 [debug] Diagnostics for board 50:
2025-04-24 12:08:22 [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 12:08:22 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:27 ago, cause: software
2025-04-24 12:08:22 [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 12:08:22 [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 12:08:22 [debug] Moves scheduled 23978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17857
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:22 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17807, writes 0 timeouts 0
2025-04-24 12:08:22 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37178
2025-04-24 12:08:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9189, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:22 [info] currentZPosition:0.175
2025-04-24 12:08:22 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:23 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:23 [debug] Diagnostics for board 50:
2025-04-24 12:08:23 [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 12:08:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:28 ago, cause: software
2025-04-24 12:08:23 [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 12:08:23 [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 12:08:23 [debug] Moves scheduled 23984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294930917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:08:23 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20382, writes 0 timeouts 0
2025-04-24 12:08:23 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37179
2025-04-24 12:08:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9184, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:23 [info] currentZPosition:0.176
2025-04-24 12:08:25 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:25 [debug] Diagnostics for board 50:
2025-04-24 12:08:25 [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 12:08:25 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:29 ago, cause: software
2025-04-24 12:08:25 [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 12:08:25 [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 12:08:25 [debug] Moves scheduled 23988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 64, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:25 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16813, writes 0 timeouts 0
2025-04-24 12:08:25 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36107/37175
2025-04-24 12:08:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:25 [info] currentZPosition:0.177
2025-04-24 12:08:26 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:26 [debug] Diagnostics for board 50:
2025-04-24 12:08:26 [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 12:08:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:31 ago, cause: software
2025-04-24 12:08:26 [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 12:08:26 [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 12:08:26 [debug] Moves scheduled 23992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6880, max=17045
Sync err accum 83, peak jitter 1/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:26 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16766, writes 0 timeouts 0
2025-04-24 12:08:26 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36161/37173
2025-04-24 12:08:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:26 [info] currentZPosition:0.176
2025-04-24 12:08:27 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:27 [debug] Diagnostics for board 50:
2025-04-24 12:08:27 [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 12:08:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:32 ago, cause: software
2025-04-24 12:08:27 [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 12:08:27 [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 12:08:27 [debug] Moves scheduled 23996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=113, frequency (Hz): min=6465, max=17045
Sync err accum 94, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:27 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16864, writes 0 timeouts 0
2025-04-24 12:08:27 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37173
2025-04-24 12:08:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:27 [info] currentZPosition:0.177
2025-04-24 12:08:29 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:29 [debug] Diagnostics for board 50:
2025-04-24 12:08:29 [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 12:08:29 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:34 ago, cause: software
2025-04-24 12:08:29 [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 12:08:29 [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 12:08:29 [debug] Moves scheduled 24000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 103, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:29 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16801, writes 0 timeouts 0
2025-04-24 12:08:29 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36164/37173
2025-04-24 12:08:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:29 [info] currentZPosition:0.177
2025-04-24 12:08:30 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:30 [debug] Diagnostics for board 50:
2025-04-24 12:08:30 [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 12:08:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:35 ago, cause: software
2025-04-24 12:08:30 [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 12:08:30 [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 12:08:30 [debug] Moves scheduled 24004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 112, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933346 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:30 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17382, writes 0 timeouts 0
2025-04-24 12:08:30 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37172
2025-04-24 12:08:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:30 [info] currentZPosition:0.176
2025-04-24 12:08:31 [debug] Stopped at height 0.175 mm
2025-04-24 12:08:31 [debug] Diagnostics for board 50:
2025-04-24 12:08:31 [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 12:08:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:36 ago, cause: software
2025-04-24 12:08:31 [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 12:08:31 [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 12:08:31 [debug] Moves scheduled 24008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 116, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294934053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:31 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16806, writes 0 timeouts 0
2025-04-24 12:08:31 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37174
2025-04-24 12:08:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9196, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:31 [info] currentZPosition:0.175
2025-04-24 12:08:33 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:33 [debug] Diagnostics for board 50:
2025-04-24 12:08:33 [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 12:08:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:38 ago, cause: software
2025-04-24 12:08:33 [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 12:08:33 [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 12:08:33 [debug] Moves scheduled 24012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 120, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:33 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16771, writes 0 timeouts 0
2025-04-24 12:08:33 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37176
2025-04-24 12:08:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:33 [info] currentZPosition:0.177
2025-04-24 12:08:34 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:34 [debug] Diagnostics for board 50:
2025-04-24 12:08:34 [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 12:08:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:39 ago, cause: software
2025-04-24 12:08:34 [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 12:08:34 [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 12:08:34 [debug] Moves scheduled 24016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 121, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294933507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:34 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16661, writes 0 timeouts 0
2025-04-24 12:08:34 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36164/37175
2025-04-24 12:08:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:34 [info] currentZPosition:0.176
2025-04-24 12:08:35 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:35 [debug] Diagnostics for board 50:
2025-04-24 12:08:35 [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 12:08:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:40 ago, cause: software
2025-04-24 12:08:35 [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 12:08:35 [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 12:08:35 [debug] Moves scheduled 24020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6302, max=17045
Sync err accum 117, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294929448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:35 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17361, writes 0 timeouts 0
2025-04-24 12:08:35 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37173
2025-04-24 12:08:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:36 [info] currentZPosition:0.176
2025-04-24 12:08:37 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:37 [debug] Diagnostics for board 50:
2025-04-24 12:08:37 [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 12:08:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:42 ago, cause: software
2025-04-24 12:08:37 [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 12:08:37 [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 12:08:37 [debug] Moves scheduled 24024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6355, max=17857
Sync err accum 111, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 12:08:37 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16560, writes 0 timeouts 0
2025-04-24 12:08:37 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37177
2025-04-24 12:08:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:37 [info] currentZPosition:0.176
2025-04-24 12:08:38 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:38 [debug] Diagnostics for board 50:
2025-04-24 12:08:38 [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 12:08:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:43 ago, cause: software
2025-04-24 12:08:38 [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 12:08:38 [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 12:08:38 [debug] Moves scheduled 24028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6097, max=18292
Sync err accum 102, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:08:38 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16950, writes 0 timeouts 0
2025-04-24 12:08:38 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 12:08:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:38 [info] currentZPosition:0.177
2025-04-24 12:08:39 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:39 [debug] Diagnostics for board 50:
2025-04-24 12:08:39 [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 12:08:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:44 ago, cause: software
2025-04-24 12:08:39 [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 12:08:39 [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 12:08:39 [debug] Moves scheduled 24032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6198, max=17045
Sync err accum 92, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:39 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16356, writes 0 timeouts 0
2025-04-24 12:08:39 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36167/37178
2025-04-24 12:08:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:40 [info] currentZPosition:0.177
2025-04-24 12:08:41 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:41 [debug] Diagnostics for board 50:
2025-04-24 12:08:41 [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 12:08:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:46 ago, cause: software
2025-04-24 12:08:41 [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 12:08:41 [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 12:08:41 [debug] Moves scheduled 24036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 77, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:41 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17560, writes 0 timeouts 0
2025-04-24 12:08:41 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36107/37179
2025-04-24 12:08:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:41 [info] currentZPosition:0.176
2025-04-24 12:08:42 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:42 [debug] Diagnostics for board 50:
2025-04-24 12:08:42 [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 12:08:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:47 ago, cause: software
2025-04-24 12:08:42 [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 12:08:42 [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 12:08:42 [debug] Moves scheduled 24040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:42 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16605, writes 0 timeouts 0
2025-04-24 12:08:42 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36169/37175
2025-04-24 12:08:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:42 [info] currentZPosition:0.176
2025-04-24 12:08:44 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:44 [debug] Diagnostics for board 50:
2025-04-24 12:08:44 [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 12:08:44 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:48 ago, cause: software
2025-04-24 12:08:44 [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 12:08:44 [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 12:08:44 [debug] Moves scheduled 24044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 66, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:44 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16961, writes 0 timeouts 0
2025-04-24 12:08:44 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36100/37174
2025-04-24 12:08:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:44 [info] currentZPosition:0.177
2025-04-24 12:08:45 [debug] Stopped at height 0.178 mm
2025-04-24 12:08:45 [debug] Diagnostics for board 50:
2025-04-24 12:08:45 [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 12:08:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:50 ago, cause: software
2025-04-24 12:08:45 [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 12:08:45 [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 12:08:45 [debug] Moves scheduled 24048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 82, peak jitter 1/4, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:45 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16367, writes 0 timeouts 0
2025-04-24 12:08:45 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36162/37173
2025-04-24 12:08:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:45 [info] currentZPosition:0.178
2025-04-24 12:08:46 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:46 [debug] Diagnostics for board 50:
2025-04-24 12:08:46 [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 12:08:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:51 ago, cause: software
2025-04-24 12:08:46 [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 12:08:46 [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 12:08:46 [debug] Moves scheduled 24052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=519, max=17045
Sync err accum 93, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 12:08:46 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 17236, writes 11 timeouts 1
2025-04-24 12:08:46 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36095/37172
2025-04-24 12:08:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:46 [info] currentZPosition:0.177
2025-04-24 12:08:48 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:48 [debug] Diagnostics for board 50:
2025-04-24 12:08:48 [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 12:08:48 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:52 ago, cause: software
2025-04-24 12:08:48 [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 12:08:48 [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 12:08:48 [debug] Moves scheduled 24056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6198, max=17045
Sync err accum 100, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:48 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16679, writes 0 timeouts 0
2025-04-24 12:08:48 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36145/37174
2025-04-24 12:08:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:48 [info] currentZPosition:0.177
2025-04-24 12:08:49 [debug] Stopped at height 0.178 mm
2025-04-24 12:08:49 [debug] Diagnostics for board 50:
2025-04-24 12:08:49 [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 12:08:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:54 ago, cause: software
2025-04-24 12:08:49 [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 12:08:49 [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 12:08:49 [debug] Moves scheduled 24060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=60, frequency (Hz): min=6578, max=17045
Sync err accum 107, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:49 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 17015, writes 0 timeouts 0
2025-04-24 12:08:49 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36110/37173
2025-04-24 12:08:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:49 [info] currentZPosition:0.178
2025-04-24 12:08:50 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:50 [debug] Diagnostics for board 50:
2025-04-24 12:08:50 [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 12:08:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:55 ago, cause: software
2025-04-24 12:08:50 [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 12:08:50 [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 12:08:50 [debug] Moves scheduled 24064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 106, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:50 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16876, writes 0 timeouts 0
2025-04-24 12:08:50 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36166/37175
2025-04-24 12:08:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:50 [info] currentZPosition:0.177
2025-04-24 12:08:52 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:52 [debug] Diagnostics for board 50:
2025-04-24 12:08:52 [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 12:08:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:57 ago, cause: software
2025-04-24 12:08:52 [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 12:08:52 [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 12:08:52 [debug] Moves scheduled 24068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6048, max=17857
Sync err accum 109, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:52 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17133, writes 0 timeouts 0
2025-04-24 12:08:52 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37176
2025-04-24 12:08:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:52 [info] currentZPosition:0.177
2025-04-24 12:08:53 [debug] Stopped at height 0.175 mm
2025-04-24 12:08:53 [debug] Diagnostics for board 50:
2025-04-24 12:08:53 [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 12:08:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:10:58 ago, cause: software
2025-04-24 12:08:53 [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 12:08:53 [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 12:08:53 [debug] Moves scheduled 24072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 107, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:08:53 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17287, writes 0 timeouts 0
2025-04-24 12:08:53 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36163/37172
2025-04-24 12:08:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9233, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:53 [info] currentZPosition:0.175
2025-04-24 12:08:53 [debug] Stopped at height 0.174 mm
2025-04-24 12:08:55 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:55 [debug] Diagnostics for board 50:
2025-04-24 12:08:55 [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 12:08:55 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:00 ago, cause: software
2025-04-24 12:08:55 [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 12:08:55 [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 12:08:55 [debug] Moves scheduled 24078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 97, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:08:55 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20587, writes 0 timeouts 0
2025-04-24 12:08:55 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37175
2025-04-24 12:08:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:55 [info] currentZPosition:0.177
2025-04-24 12:08:55 [debug] Stopped at height 0.175 mm
2025-04-24 12:08:56 [debug] Stopped at height 0.177 mm
2025-04-24 12:08:56 [debug] Diagnostics for board 50:
2025-04-24 12:08:56 [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 12:08:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:01 ago, cause: software
2025-04-24 12:08:56 [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 12:08:56 [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 12:08:56 [debug] Moves scheduled 24084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 87, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:56 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20499, writes 0 timeouts 0
2025-04-24 12:08:56 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37173
2025-04-24 12:08:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:56 [info] currentZPosition:0.177
2025-04-24 12:08:57 [debug] Stopped at height 0.176 mm
2025-04-24 12:08:58 [debug] Stopped at height 0.178 mm
2025-04-24 12:08:58 [debug] Diagnostics for board 50:
2025-04-24 12:08:58 [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 12:08:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:03 ago, cause: software
2025-04-24 12:08:58 [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 12:08:58 [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 12:08:58 [debug] Moves scheduled 24090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6944, max=17045
Sync err accum 71, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:08:58 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 20772, writes 0 timeouts 0
2025-04-24 12:08:58 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 290, adv 36111/37178
2025-04-24 12:08:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:08:58 [info] currentZPosition:0.178
2025-04-24 12:08:58 [debug] Stopped at height 0.176 mm
2025-04-24 12:09:00 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:00 [debug] Diagnostics for board 50:
2025-04-24 12:09:00 [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 12:09:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:04 ago, cause: software
2025-04-24 12:09:00 [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 12:09:00 [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 12:09:00 [debug] Moves scheduled 24096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6198, max=17857
Sync err accum 62, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294927782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:00 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min 0, mspos 56, reads 20232, writes 0 timeouts 0
2025-04-24 12:09:00 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36161/37174
2025-04-24 12:09:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:00 [info] currentZPosition:0.179
2025-04-24 12:09:00 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:01 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:01 [debug] Diagnostics for board 50:
2025-04-24 12:09:01 [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 12:09:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:06 ago, cause: software
2025-04-24 12:09:01 [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 12:09:01 [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 12:09:01 [debug] Moves scheduled 24102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=510, max=17045
Sync err accum 80, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 12:09:01 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 21434, writes 11 timeouts 1
2025-04-24 12:09:01 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36099/37173
2025-04-24 12:09:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:01 [info] currentZPosition:0.177
2025-04-24 12:09:03 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:03 [debug] Diagnostics for board 50:
2025-04-24 12:09:03 [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 12:09:03 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:08 ago, cause: software
2025-04-24 12:09:03 [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 12:09:03 [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 12:09:03 [debug] Moves scheduled 24106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 92, peak jitter 2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:03 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16658, writes 0 timeouts 0
2025-04-24 12:09:03 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37176
2025-04-24 12:09:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:03 [info] currentZPosition:0.177
2025-04-24 12:09:04 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:04 [debug] Diagnostics for board 50:
2025-04-24 12:09:04 [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 12:09:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:09 ago, cause: software
2025-04-24 12:09:04 [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 12:09:04 [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 12:09:04 [debug] Moves scheduled 24110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17045
Sync err accum 103, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931838 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:04 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17187, writes 0 timeouts 0
2025-04-24 12:09:04 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36093/37173
2025-04-24 12:09:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:04 [info] currentZPosition:0.177
2025-04-24 12:09:05 [debug] Stopped at height 0.176 mm
2025-04-24 12:09:05 [debug] Diagnostics for board 50:
2025-04-24 12:09:05 [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 12:09:05 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:10 ago, cause: software
2025-04-24 12:09:05 [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 12:09:05 [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 12:09:05 [debug] Moves scheduled 24114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5725, max=17045
Sync err accum 108, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:05 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 16963, writes 0 timeouts 0
2025-04-24 12:09:05 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36165/37173
2025-04-24 12:09:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9225, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4542, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:05 [info] currentZPosition:0.176
2025-04-24 12:09:07 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:07 [debug] Diagnostics for board 50:
2025-04-24 12:09:07 [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 12:09:07 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:12 ago, cause: software
2025-04-24 12:09:07 [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 12:09:07 [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 12:09:07 [debug] Moves scheduled 24118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6944, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:07 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16618, writes 0 timeouts 0
2025-04-24 12:09:07 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36100/37175
2025-04-24 12:09:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:07 [info] currentZPosition:0.177
2025-04-24 12:09:07 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:07 [debug] Stopped at height 0.176 mm
2025-04-24 12:09:09 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:09 [debug] Diagnostics for board 50:
2025-04-24 12:09:09 [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 12:09:09 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:14 ago, cause: software
2025-04-24 12:09:09 [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 12:09:09 [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 12:09:09 [debug] Moves scheduled 24126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 113, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:09 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 24461, writes 0 timeouts 0
2025-04-24 12:09:09 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 288, adv 36160/37175
2025-04-24 12:09:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:09 [info] currentZPosition:0.178
2025-04-24 12:09:09 [debug] Stopped at height 0.176 mm
2025-04-24 12:09:10 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:10 [debug] Diagnostics for board 50:
2025-04-24 12:09:10 [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 12:09:10 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:15 ago, cause: software
2025-04-24 12:09:10 [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 12:09:10 [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 12:09:10 [debug] Moves scheduled 24132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 111, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:10 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21072, writes 0 timeouts 0
2025-04-24 12:09:10 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36103/37173
2025-04-24 12:09:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:10 [info] currentZPosition:0.178
2025-04-24 12:09:11 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:12 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:12 [debug] Diagnostics for board 50:
2025-04-24 12:09:12 [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 12:09:12 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:17 ago, cause: software
2025-04-24 12:09:12 [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 12:09:12 [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 12:09:12 [debug] Moves scheduled 24138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17857
Sync err accum 105, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:09:12 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20709, writes 0 timeouts 0
2025-04-24 12:09:12 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36160/37175
2025-04-24 12:09:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9181, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:12 [info] currentZPosition:0.177
2025-04-24 12:09:13 [debug] Stopped at height 0.176 mm
2025-04-24 12:09:13 [debug] Diagnostics for board 50:
2025-04-24 12:09:13 [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 12:09:13 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:18 ago, cause: software
2025-04-24 12:09:13 [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 12:09:13 [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 12:09:13 [debug] Moves scheduled 24142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6696, max=17045
Sync err accum 99, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:13 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 17525, writes 0 timeouts 0
2025-04-24 12:09:13 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36106/37175
2025-04-24 12:09:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9237, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 827
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:14 [info] currentZPosition:0.176
2025-04-24 12:09:15 [debug] Stopped at height 0.176 mm
2025-04-24 12:09:15 [debug] Diagnostics for board 50:
2025-04-24 12:09:15 [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 12:09:15 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:20 ago, cause: software
2025-04-24 12:09:15 [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 12:09:15 [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 12:09:15 [debug] Moves scheduled 24146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 88, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:15 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min 0, mspos 616, reads 16614, writes 0 timeouts 0
2025-04-24 12:09:15 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36270/37174
2025-04-24 12:09:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9240, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:15 [info] currentZPosition:0.176
2025-04-24 12:09:16 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:16 [debug] Diagnostics for board 50:
2025-04-24 12:09:16 [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 12:09:16 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:21 ago, cause: software
2025-04-24 12:09:16 [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 12:09:16 [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 12:09:16 [debug] Moves scheduled 24150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 75, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:16 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16578, writes 0 timeouts 0
2025-04-24 12:09:16 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36008/37176
2025-04-24 12:09:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:16 [info] currentZPosition:0.178
2025-04-24 12:09:16 [debug] Stopped at height 0.180 mm
2025-04-24 12:09:17 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:18 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:18 [debug] Diagnostics for board 50:
2025-04-24 12:09:18 [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 12:09:18 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:23 ago, cause: software
2025-04-24 12:09:18 [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 12:09:18 [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 12:09:18 [debug] Moves scheduled 24158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 63, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:18 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 24870, writes 0 timeouts 0
2025-04-24 12:09:18 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36395/37177
2025-04-24 12:09:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9194, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:18 [info] currentZPosition:0.177
2025-04-24 12:09:19 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:19 [debug] Diagnostics for board 50:
2025-04-24 12:09:19 [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 12:09:19 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:24 ago, cause: software
2025-04-24 12:09:19 [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 12:09:19 [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 12:09:19 [debug] Moves scheduled 24162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6696, max=17045
Sync err accum 76, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:19 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16591, writes 0 timeouts 0
2025-04-24 12:09:19 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37174
2025-04-24 12:09:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:19 [info] currentZPosition:0.179
2025-04-24 12:09:20 [debug] Stopped at height 0.176 mm
2025-04-24 12:09:20 [debug] Stopped at height 0.175 mm
2025-04-24 12:09:21 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:21 [debug] Diagnostics for board 50:
2025-04-24 12:09:21 [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 12:09:21 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:26 ago, cause: software
2025-04-24 12:09:21 [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 12:09:21 [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 12:09:21 [debug] Moves scheduled 24170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6578, max=17441
Sync err accum 91, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:21 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 24978, writes 0 timeouts 0
2025-04-24 12:09:21 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 294, adv 36402/37175
2025-04-24 12:09:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:21 [info] currentZPosition:0.178
2025-04-24 12:09:22 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:23 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:23 [debug] Diagnostics for board 50:
2025-04-24 12:09:23 [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 12:09:23 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:28 ago, cause: software
2025-04-24 12:09:23 [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 12:09:23 [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 12:09:23 [debug] Moves scheduled 24176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=18292
Sync err accum 101, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:23 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 20685, writes 0 timeouts 0
2025-04-24 12:09:23 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37175
2025-04-24 12:09:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:23 [info] currentZPosition:0.178
2025-04-24 12:09:24 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:24 [debug] Diagnostics for board 50:
2025-04-24 12:09:24 [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 12:09:24 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:29 ago, cause: software
2025-04-24 12:09:24 [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 12:09:24 [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 12:09:24 [debug] Moves scheduled 24180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=508, max=17045
Sync err accum 105, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:24 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16499, writes 11 timeouts 1
2025-04-24 12:09:24 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36415/37172
2025-04-24 12:09:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:24 [info] currentZPosition:0.179
2025-04-24 12:09:26 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:26 [debug] Diagnostics for board 50:
2025-04-24 12:09:26 [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 12:09:26 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:31 ago, cause: software
2025-04-24 12:09:26 [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 12:09:26 [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 12:09:26 [debug] Moves scheduled 24184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6818, max=17857
Sync err accum 107, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:26 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17119, writes 0 timeouts 0
2025-04-24 12:09:26 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37172
2025-04-24 12:09:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:26 [info] currentZPosition:0.179
2025-04-24 12:09:27 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:27 [debug] Diagnostics for board 50:
2025-04-24 12:09:27 [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 12:09:27 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:32 ago, cause: software
2025-04-24 12:09:27 [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 12:09:27 [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 12:09:27 [debug] Moves scheduled 24188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 106, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:09:27 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16643, writes 0 timeouts 0
2025-04-24 12:09:27 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37176
2025-04-24 12:09:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:27 [info] currentZPosition:0.179
2025-04-24 12:09:28 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:28 [debug] Diagnostics for board 50:
2025-04-24 12:09:28 [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 12:09:28 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:33 ago, cause: software
2025-04-24 12:09:28 [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 12:09:28 [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 12:09:28 [debug] Moves scheduled 24192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6250, max=17045
Sync err accum 102, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:28 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17404, writes 0 timeouts 0
2025-04-24 12:09:28 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37175
2025-04-24 12:09:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:29 [info] currentZPosition:0.178
2025-04-24 12:09:30 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:30 [debug] Diagnostics for board 50:
2025-04-24 12:09:30 [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 12:09:30 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:35 ago, cause: software
2025-04-24 12:09:30 [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 12:09:30 [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 12:09:30 [debug] Moves scheduled 24196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17441
Sync err accum 97, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294931902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:30 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16431, writes 0 timeouts 0
2025-04-24 12:09:30 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36405/37175
2025-04-24 12:09:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:30 [info] currentZPosition:0.179
2025-04-24 12:09:31 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:31 [debug] Diagnostics for board 50:
2025-04-24 12:09:31 [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 12:09:31 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:36 ago, cause: software
2025-04-24 12:09:31 [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 12:09:31 [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 12:09:31 [debug] Moves scheduled 24200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6147, max=17045
Sync err accum 87, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:31 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17311, writes 0 timeouts 0
2025-04-24 12:09:31 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36103/37177
2025-04-24 12:09:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:31 [info] currentZPosition:0.178
2025-04-24 12:09:33 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:33 [debug] Diagnostics for board 50:
2025-04-24 12:09:33 [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 12:09:33 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:11:37 ago, cause: software
2025-04-24 12:09:33 [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 12:09:33 [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 12:09:33 [debug] Moves scheduled 24204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=57, frequency (Hz): min=6410, max=17045
Sync err accum 78, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:33 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16703, writes 0 timeouts 0
2025-04-24 12:09:33 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36402/37177
2025-04-24 12:09:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:33 [info] currentZPosition:0.178
2025-04-24 12:09:34 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:34 [debug] Diagnostics for board 50:
2025-04-24 12:09:34 [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 12:09:34 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:39 ago, cause: software
2025-04-24 12:09:34 [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 12:09:34 [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 12:09:34 [debug] Moves scheduled 24208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 66, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:34 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17011, writes 0 timeouts 0
2025-04-24 12:09:34 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36098/37178
2025-04-24 12:09:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:34 [info] currentZPosition:0.179
2025-04-24 12:09:35 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:35 [debug] Diagnostics for board 50:
2025-04-24 12:09:35 [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 12:09:35 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:40 ago, cause: software
2025-04-24 12:09:35 [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 12:09:35 [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 12:09:35 [debug] Moves scheduled 24212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6465, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:35 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16746, writes 0 timeouts 0
2025-04-24 12:09:35 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36400/37173
2025-04-24 12:09:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:35 [info] currentZPosition:0.178
2025-04-24 12:09:37 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:37 [debug] Diagnostics for board 50:
2025-04-24 12:09:37 [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 12:09:37 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:41 ago, cause: software
2025-04-24 12:09:37 [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 12:09:37 [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 12:09:37 [debug] Moves scheduled 24216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5639, max=17045
Sync err accum 75, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:37 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17008, writes 0 timeouts 0
2025-04-24 12:09:37 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36106/37173
2025-04-24 12:09:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:37 [info] currentZPosition:0.179
2025-04-24 12:09:38 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:38 [debug] Diagnostics for board 50:
2025-04-24 12:09:38 [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 12:09:38 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:43 ago, cause: software
2025-04-24 12:09:38 [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 12:09:38 [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 12:09:38 [debug] Moves scheduled 24220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294934665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:38 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16784, writes 0 timeouts 0
2025-04-24 12:09:38 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37176
2025-04-24 12:09:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:38 [info] currentZPosition:0.178
2025-04-24 12:09:39 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:39 [debug] Diagnostics for board 50:
2025-04-24 12:09:39 [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 12:09:39 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:44 ago, cause: software
2025-04-24 12:09:39 [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 12:09:39 [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 12:09:39 [debug] Moves scheduled 24224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 88, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:39 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17021, writes 0 timeouts 0
2025-04-24 12:09:39 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36103/37173
2025-04-24 12:09:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:39 [info] currentZPosition:0.179
2025-04-24 12:09:41 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:41 [debug] Diagnostics for board 50:
2025-04-24 12:09:41 [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 12:09:41 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:45 ago, cause: software
2025-04-24 12:09:41 [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 12:09:41 [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 12:09:41 [debug] Moves scheduled 24228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6818, max=17045
Sync err accum 92, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294930238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:41 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16783, writes 0 timeouts 0
2025-04-24 12:09:41 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36406/37169
2025-04-24 12:09:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:41 [info] currentZPosition:0.179
2025-04-24 12:09:42 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:42 [debug] Diagnostics for board 50:
2025-04-24 12:09:42 [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 12:09:42 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:47 ago, cause: software
2025-04-24 12:09:42 [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 12:09:42 [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 12:09:42 [debug] Moves scheduled 24232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=18292
Sync err accum 91, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:42 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17031, writes 0 timeouts 0
2025-04-24 12:09:42 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36091/37177
2025-04-24 12:09:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:42 [info] currentZPosition:0.179
2025-04-24 12:09:43 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:43 [debug] Diagnostics for board 50:
2025-04-24 12:09:43 [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 12:09:43 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:48 ago, cause: software
2025-04-24 12:09:43 [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 12:09:43 [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 12:09:43 [debug] Moves scheduled 24236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=18292
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294926448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:43 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17011, writes 0 timeouts 0
2025-04-24 12:09:43 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36399/37177
2025-04-24 12:09:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:43 [info] currentZPosition:0.178
2025-04-24 12:09:45 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:45 [debug] Diagnostics for board 50:
2025-04-24 12:09:45 [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 12:09:45 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:50 ago, cause: software
2025-04-24 12:09:45 [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 12:09:45 [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 12:09:45 [debug] Moves scheduled 24240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=18292
Sync err accum 82, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294932428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:45 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16939, writes 0 timeouts 0
2025-04-24 12:09:45 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36114/37175
2025-04-24 12:09:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:45 [info] currentZPosition:0.179
2025-04-24 12:09:46 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:46 [debug] Diagnostics for board 50:
2025-04-24 12:09:46 [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 12:09:46 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:51 ago, cause: software
2025-04-24 12:09:46 [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 12:09:46 [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 12:09:46 [debug] Moves scheduled 24244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6880, max=17045
Sync err accum 73, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:46 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16746, writes 0 timeouts 0
2025-04-24 12:09:46 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36421/37177
2025-04-24 12:09:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:46 [info] currentZPosition:0.179
2025-04-24 12:09:47 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:47 [debug] Diagnostics for board 50:
2025-04-24 12:09:47 [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 12:09:47 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:52 ago, cause: software
2025-04-24 12:09:47 [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 12:09:47 [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 12:09:47 [debug] Moves scheduled 24248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=512, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:47 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16916, writes 11 timeouts 1
2025-04-24 12:09:47 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37178
2025-04-24 12:09:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:47 [info] currentZPosition:0.179
2025-04-24 12:09:49 [debug] Stopped at height 0.179 mm
2025-04-24 12:09:49 [debug] Diagnostics for board 50:
2025-04-24 12:09:49 [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 12:09:49 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:54 ago, cause: software
2025-04-24 12:09:49 [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 12:09:49 [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 12:09:49 [debug] Moves scheduled 24252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:49 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16668, writes 0 timeouts 0
2025-04-24 12:09:49 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37174
2025-04-24 12:09:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:49 [info] currentZPosition:0.179
2025-04-24 12:09:50 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:50 [debug] Diagnostics for board 50:
2025-04-24 12:09:50 [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 12:09:50 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:55 ago, cause: software
2025-04-24 12:09:50 [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 12:09:50 [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 12:09:50 [debug] Moves scheduled 24256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 85, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:50 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17453, writes 0 timeouts 0
2025-04-24 12:09:50 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36105/37175
2025-04-24 12:09:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:50 [info] currentZPosition:0.178
2025-04-24 12:09:52 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:52 [debug] Diagnostics for board 50:
2025-04-24 12:09:52 [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 12:09:52 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:56 ago, cause: software
2025-04-24 12:09:52 [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 12:09:52 [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 12:09:52 [debug] Moves scheduled 24260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 94, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:09:52 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16934, writes 0 timeouts 0
2025-04-24 12:09:52 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36403/37173
2025-04-24 12:09:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:52 [info] currentZPosition:0.177
2025-04-24 12:09:53 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:53 [debug] Diagnostics for board 50:
2025-04-24 12:09:53 [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 12:09:53 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:58 ago, cause: software
2025-04-24 12:09:53 [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 12:09:53 [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 12:09:53 [debug] Moves scheduled 24264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6465, max=17045
Sync err accum 98, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294935952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:53 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16882, writes 0 timeouts 0
2025-04-24 12:09:53 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37174
2025-04-24 12:09:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:53 [info] currentZPosition:0.178
2025-04-24 12:09:54 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:54 [debug] Diagnostics for board 50:
2025-04-24 12:09:54 [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 12:09:54 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:11:59 ago, cause: software
2025-04-24 12:09:54 [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 12:09:54 [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 12:09:54 [debug] Moves scheduled 24268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6410, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294930912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:54 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16607, writes 0 timeouts 0
2025-04-24 12:09:54 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37171
2025-04-24 12:09:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:54 [info] currentZPosition:0.178
2025-04-24 12:09:56 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:56 [debug] Diagnostics for board 50:
2025-04-24 12:09:56 [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 12:09:56 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:00 ago, cause: software
2025-04-24 12:09:56 [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 12:09:56 [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 12:09:56 [debug] Moves scheduled 24272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=495, max=17857
Sync err accum 100, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:56 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17196, writes 11 timeouts 1
2025-04-24 12:09:56 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37174
2025-04-24 12:09:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:56 [info] currentZPosition:0.178
2025-04-24 12:09:57 [debug] Stopped at height 0.177 mm
2025-04-24 12:09:57 [debug] Diagnostics for board 50:
2025-04-24 12:09:57 [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 12:09:57 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:02 ago, cause: software
2025-04-24 12:09:57 [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 12:09:57 [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 12:09:57 [debug] Moves scheduled 24276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 101, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:09:57 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16874, writes 0 timeouts 0
2025-04-24 12:09:57 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36415/37169
2025-04-24 12:09:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:57 [info] currentZPosition:0.177
2025-04-24 12:09:58 [debug] Stopped at height 0.178 mm
2025-04-24 12:09:58 [debug] Diagnostics for board 50:
2025-04-24 12:09:58 [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 12:09:58 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:03 ago, cause: software
2025-04-24 12:09:58 [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 12:09:58 [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 12:09:58 [debug] Moves scheduled 24280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 95, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:09:58 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17008, writes 0 timeouts 0
2025-04-24 12:09:58 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36095/37178
2025-04-24 12:09:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:09:58 [info] currentZPosition:0.178
2025-04-24 12:10:00 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:00 [debug] Diagnostics for board 50:
2025-04-24 12:10:00 [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 12:10:00 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:04 ago, cause: software
2025-04-24 12:10:00 [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 12:10:00 [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 12:10:00 [debug] Moves scheduled 24284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6696, max=17045
Sync err accum 90, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294931924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:00 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16505, writes 0 timeouts 0
2025-04-24 12:10:00 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36403/37177
2025-04-24 12:10:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:00 [info] currentZPosition:0.178
2025-04-24 12:10:01 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:01 [debug] Diagnostics for board 50:
2025-04-24 12:10:01 [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 12:10:01 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:06 ago, cause: software
2025-04-24 12:10:01 [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 12:10:01 [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 12:10:01 [debug] Moves scheduled 24288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 78, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:10:01 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16994, writes 0 timeouts 0
2025-04-24 12:10:01 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 12:10:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:01 [info] currentZPosition:0.179
2025-04-24 12:10:02 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:02 [debug] Diagnostics for board 50:
2025-04-24 12:10:02 [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 12:10:02 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:07 ago, cause: software
2025-04-24 12:10:02 [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 12:10:02 [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 12:10:02 [debug] Moves scheduled 24292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 70, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:02 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16785, writes 0 timeouts 0
2025-04-24 12:10:02 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36405/37179
2025-04-24 12:10:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:02 [info] currentZPosition:0.178
2025-04-24 12:10:04 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:04 [debug] Diagnostics for board 50:
2025-04-24 12:10:04 [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 12:10:04 [debug] Never used RAM 51356, free system stack 158 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:09 ago, cause: software
2025-04-24 12:10:04 [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 12:10:04 [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 12:10:04 [debug] Moves scheduled 24296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 62, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:04 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17227, writes 0 timeouts 0
2025-04-24 12:10:04 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36091/37175
2025-04-24 12:10:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:04 [info] currentZPosition:0.178
2025-04-24 12:10:05 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:05 [debug] Diagnostics for board 50:
2025-04-24 12:10:05 [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 12:10:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:10 ago, cause: software
2025-04-24 12:10:05 [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 12:10:05 [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 12:10:05 [debug] Moves scheduled 24300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 72, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:05 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16665, writes 0 timeouts 0
2025-04-24 12:10:05 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36401/37169
2025-04-24 12:10:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:05 [info] currentZPosition:0.178
2025-04-24 12:10:06 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:06 [debug] Diagnostics for board 50:
2025-04-24 12:10:06 [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 12:10:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:11 ago, cause: software
2025-04-24 12:10:06 [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 12:10:06 [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 12:10:06 [debug] Moves scheduled 24304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=7075, max=17045
Sync err accum 77, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:06 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17026, writes 0 timeouts 0
2025-04-24 12:10:06 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36111/37174
2025-04-24 12:10:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:06 [info] currentZPosition:0.179
2025-04-24 12:10:08 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:08 [debug] Diagnostics for board 50:
2025-04-24 12:10:08 [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 12:10:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:13 ago, cause: software
2025-04-24 12:10:08 [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 12:10:08 [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 12:10:08 [debug] Moves scheduled 24308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=6097, max=17045
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:08 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16583, writes 0 timeouts 0
2025-04-24 12:10:08 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36285/37173
2025-04-24 12:10:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:08 [info] currentZPosition:0.179
2025-04-24 12:10:09 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:09 [debug] Diagnostics for board 50:
2025-04-24 12:10:09 [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 12:10:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:14 ago, cause: software
2025-04-24 12:10:09 [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 12:10:09 [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 12:10:09 [debug] Moves scheduled 24312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294936172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:09 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17292, writes 0 timeouts 0
2025-04-24 12:10:09 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37177
2025-04-24 12:10:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:09 [info] currentZPosition:0.178
2025-04-24 12:10:10 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:10 [debug] Diagnostics for board 50:
2025-04-24 12:10:10 [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 12:10:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:15 ago, cause: software
2025-04-24 12:10:10 [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 12:10:10 [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 12:10:10 [debug] Moves scheduled 24316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 81, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:10 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16567, writes 0 timeouts 0
2025-04-24 12:10:10 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36162/37175
2025-04-24 12:10:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:10 [info] currentZPosition:0.178
2025-04-24 12:10:12 [debug] Stopped at height 0.177 mm
2025-04-24 12:10:12 [debug] Diagnostics for board 50:
2025-04-24 12:10:12 [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 12:10:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:17 ago, cause: software
2025-04-24 12:10:12 [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 12:10:12 [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 12:10:12 [debug] Moves scheduled 24320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6465, max=17045
Sync err accum 78, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:12 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17581, writes 0 timeouts 0
2025-04-24 12:10:12 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36110/37175
2025-04-24 12:10:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:12 [info] currentZPosition:0.177
2025-04-24 12:10:13 [debug] Stopped at height 0.177 mm
2025-04-24 12:10:13 [debug] Diagnostics for board 50:
2025-04-24 12:10:13 [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 12:10:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:12:18 ago, cause: software
2025-04-24 12:10:13 [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 12:10:13 [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 12:10:13 [debug] Moves scheduled 24324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 72, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:13 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 16425, writes 0 timeouts 0
2025-04-24 12:10:13 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36167/37177
2025-04-24 12:10:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9196, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:13 [info] currentZPosition:0.177
2025-04-24 12:10:14 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:14 [debug] Diagnostics for board 50:
2025-04-24 12:10:14 [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 12:10:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:19 ago, cause: software
2025-04-24 12:10:14 [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 12:10:14 [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 12:10:14 [debug] Moves scheduled 24328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:14 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16808, writes 0 timeouts 0
2025-04-24 12:10:14 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36111/37178
2025-04-24 12:10:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:15 [info] currentZPosition:0.179
2025-04-24 12:10:16 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:16 [debug] Diagnostics for board 50:
2025-04-24 12:10:16 [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 12:10:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:21 ago, cause: software
2025-04-24 12:10:16 [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 12:10:16 [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 12:10:16 [debug] Moves scheduled 24332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 72, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294932103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:16 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16467, writes 0 timeouts 0
2025-04-24 12:10:16 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36162/37171
2025-04-24 12:10:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:16 [info] currentZPosition:0.179
2025-04-24 12:10:17 [debug] Stopped at height 0.176 mm
2025-04-24 12:10:17 [debug] Diagnostics for board 50:
2025-04-24 12:10:17 [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 12:10:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:22 ago, cause: software
2025-04-24 12:10:17 [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 12:10:17 [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 12:10:17 [debug] Moves scheduled 24336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=17045
Sync err accum 78, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294930667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:17 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min 0, mspos 648, reads 18030, writes 0 timeouts 0
2025-04-24 12:10:17 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37172
2025-04-24 12:10:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 827
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:17 [info] currentZPosition:0.176
2025-04-24 12:10:18 [debug] Stopped at height 0.176 mm
2025-04-24 12:10:19 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:19 [debug] Diagnostics for board 50:
2025-04-24 12:10:19 [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 12:10:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:24 ago, cause: software
2025-04-24 12:10:19 [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 12:10:19 [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 12:10:19 [debug] Moves scheduled 24342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6521, max=17045
Sync err accum 80, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:19 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20109, writes 0 timeouts 0
2025-04-24 12:10:19 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37175
2025-04-24 12:10:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:19 [info] currentZPosition:0.178
2025-04-24 12:10:19 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:21 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:21 [debug] Diagnostics for board 50:
2025-04-24 12:10:21 [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 12:10:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:25 ago, cause: software
2025-04-24 12:10:21 [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 12:10:21 [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 12:10:21 [debug] Moves scheduled 24348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 82, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:21 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 21210, writes 0 timeouts 0
2025-04-24 12:10:21 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37174
2025-04-24 12:10:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9180, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:21 [info] currentZPosition:0.178
2025-04-24 12:10:22 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:22 [debug] Diagnostics for board 50:
2025-04-24 12:10:22 [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 12:10:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:27 ago, cause: software
2025-04-24 12:10:22 [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 12:10:22 [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 12:10:22 [debug] Moves scheduled 24352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=18292
Sync err accum 80, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:22 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16509, writes 0 timeouts 0
2025-04-24 12:10:22 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36166/37175
2025-04-24 12:10:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:22 [info] currentZPosition:0.178
2025-04-24 12:10:23 [debug] Stopped at height 0.177 mm
2025-04-24 12:10:23 [debug] Diagnostics for board 50:
2025-04-24 12:10:23 [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 12:10:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:28 ago, cause: software
2025-04-24 12:10:23 [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 12:10:23 [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 12:10:23 [debug] Moves scheduled 24356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6048, max=17045
Sync err accum 77, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:23 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 17439, writes 0 timeouts 0
2025-04-24 12:10:23 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37176
2025-04-24 12:10:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9210, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:23 [info] currentZPosition:0.177
2025-04-24 12:10:25 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:25 [debug] Diagnostics for board 50:
2025-04-24 12:10:25 [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 12:10:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:29 ago, cause: software
2025-04-24 12:10:25 [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 12:10:25 [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 12:10:25 [debug] Moves scheduled 24360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=511, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294935669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:25 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16110, writes 11 timeouts 1
2025-04-24 12:10:25 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36153/37173
2025-04-24 12:10:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:25 [info] currentZPosition:0.179
2025-04-24 12:10:25 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:26 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:26 [debug] Diagnostics for board 50:
2025-04-24 12:10:26 [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 12:10:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:31 ago, cause: software
2025-04-24 12:10:26 [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 12:10:26 [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 12:10:26 [debug] Moves scheduled 24366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=6465, max=17857
Sync err accum 63, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:26 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 21058, writes 0 timeouts 0
2025-04-24 12:10:26 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36108/37176
2025-04-24 12:10:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:26 [info] currentZPosition:0.179
2025-04-24 12:10:28 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:28 [debug] Diagnostics for board 50:
2025-04-24 12:10:28 [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 12:10:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:32 ago, cause: software
2025-04-24 12:10:28 [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 12:10:28 [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 12:10:28 [debug] Moves scheduled 24370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
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 4294932500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:28 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16452, writes 0 timeouts 0
2025-04-24 12:10:28 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36165/37170
2025-04-24 12:10:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:28 [info] currentZPosition:0.179
2025-04-24 12:10:29 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:29 [debug] Diagnostics for board 50:
2025-04-24 12:10:29 [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 12:10:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:34 ago, cause: software
2025-04-24 12:10:29 [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 12:10:29 [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 12:10:29 [debug] Moves scheduled 24374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:29 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17325, writes 0 timeouts 0
2025-04-24 12:10:29 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37174
2025-04-24 12:10:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:29 [info] currentZPosition:0.179
2025-04-24 12:10:30 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:30 [debug] Diagnostics for board 50:
2025-04-24 12:10:30 [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 12:10:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:35 ago, cause: software
2025-04-24 12:10:30 [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 12:10:30 [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 12:10:30 [debug] Moves scheduled 24378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=6250, max=17045
Sync err accum 74, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294933183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:30 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16640, writes 0 timeouts 0
2025-04-24 12:10:30 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36165/37172
2025-04-24 12:10:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:30 [info] currentZPosition:0.179
2025-04-24 12:10:32 [debug] Stopped at height 0.180 mm
2025-04-24 12:10:32 [debug] Diagnostics for board 50:
2025-04-24 12:10:32 [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 12:10:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:36 ago, cause: software
2025-04-24 12:10:32 [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 12:10:32 [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 12:10:32 [debug] Moves scheduled 24382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 74, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:32 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 16730, writes 0 timeouts 0
2025-04-24 12:10:32 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37174
2025-04-24 12:10:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:32 [info] currentZPosition:0.180
2025-04-24 12:10:32 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:33 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:33 [debug] Diagnostics for board 50:
2025-04-24 12:10:33 [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 12:10:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:38 ago, cause: software
2025-04-24 12:10:33 [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 12:10:33 [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 12:10:33 [debug] Moves scheduled 24388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:33 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 20738, writes 0 timeouts 0
2025-04-24 12:10:33 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36150/37175
2025-04-24 12:10:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:33 [info] currentZPosition:0.179
2025-04-24 12:10:35 [debug] Stopped at height 0.180 mm
2025-04-24 12:10:35 [debug] Diagnostics for board 50:
2025-04-24 12:10:35 [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 12:10:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:39 ago, cause: software
2025-04-24 12:10:35 [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 12:10:35 [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 12:10:35 [debug] Moves scheduled 24392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294936521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:35 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16859, writes 0 timeouts 0
2025-04-24 12:10:35 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37175
2025-04-24 12:10:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:35 [info] currentZPosition:0.180
2025-04-24 12:10:36 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:36 [debug] Diagnostics for board 50:
2025-04-24 12:10:36 [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 12:10:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:41 ago, cause: software
2025-04-24 12:10:36 [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 12:10:36 [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 12:10:36 [debug] Moves scheduled 24396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6000, max=18292
Sync err accum 71, peak jitter -1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:36 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16749, writes 0 timeouts 0
2025-04-24 12:10:36 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 36166/37178
2025-04-24 12:10:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:36 [info] currentZPosition:0.179
2025-04-24 12:10:37 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:37 [debug] Diagnostics for board 50:
2025-04-24 12:10:37 [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 12:10:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:42 ago, cause: software
2025-04-24 12:10:37 [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 12:10:37 [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 12:10:37 [debug] Moves scheduled 24400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:37 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17477, writes 0 timeouts 0
2025-04-24 12:10:37 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36102/37173
2025-04-24 12:10:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:37 [info] currentZPosition:0.179
2025-04-24 12:10:39 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:39 [debug] Diagnostics for board 50:
2025-04-24 12:10:39 [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 12:10:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:44 ago, cause: software
2025-04-24 12:10:39 [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 12:10:39 [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 12:10:39 [debug] Moves scheduled 24404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 87, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:39 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16441, writes 0 timeouts 0
2025-04-24 12:10:39 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36163/37174
2025-04-24 12:10:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:39 [info] currentZPosition:0.179
2025-04-24 12:10:40 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:40 [debug] Diagnostics for board 50:
2025-04-24 12:10:40 [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 12:10:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:45 ago, cause: software
2025-04-24 12:10:40 [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 12:10:40 [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 12:10:40 [debug] Moves scheduled 24408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=7075, max=17045
Sync err accum 95, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:40 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17510, writes 0 timeouts 0
2025-04-24 12:10:40 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37176
2025-04-24 12:10:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4541, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:40 [info] currentZPosition:0.178
2025-04-24 12:10:41 [debug] Stopped at height 0.177 mm
2025-04-24 12:10:41 [debug] Diagnostics for board 50:
2025-04-24 12:10:41 [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 12:10:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:46 ago, cause: software
2025-04-24 12:10:41 [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 12:10:41 [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 12:10:41 [debug] Moves scheduled 24412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 98, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:41 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min 0, mspos 632, reads 16938, writes 0 timeouts 0
2025-04-24 12:10:41 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36150/37173
2025-04-24 12:10:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9243, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:42 [info] currentZPosition:0.177
2025-04-24 12:10:43 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:43 [debug] Diagnostics for board 50:
2025-04-24 12:10:43 [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 12:10:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:48 ago, cause: software
2025-04-24 12:10:43 [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 12:10:43 [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 12:10:43 [debug] Moves scheduled 24416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:43 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16563, writes 0 timeouts 0
2025-04-24 12:10:43 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 12:10:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:43 [info] currentZPosition:0.179
2025-04-24 12:10:43 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:44 [debug] Stopped at height 0.180 mm
2025-04-24 12:10:44 [debug] Diagnostics for board 50:
2025-04-24 12:10:44 [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 12:10:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:49 ago, cause: software
2025-04-24 12:10:44 [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 12:10:44 [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 12:10:44 [debug] Moves scheduled 24422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6198, max=17045
Sync err accum 91, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294933502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:44 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 20305, writes 0 timeouts 0
2025-04-24 12:10:44 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36165/37175
2025-04-24 12:10:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 817
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:44 [info] currentZPosition:0.180
2025-04-24 12:10:46 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:46 [debug] Diagnostics for board 50:
2025-04-24 12:10:46 [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 12:10:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:51 ago, cause: software
2025-04-24 12:10:46 [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 12:10:46 [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 12:10:46 [debug] Moves scheduled 24426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6756, max=17045
Sync err accum 84, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:46 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17500, writes 0 timeouts 0
2025-04-24 12:10:46 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36104/37178
2025-04-24 12:10:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:46 [info] currentZPosition:0.179
2025-04-24 12:10:47 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:47 [debug] Diagnostics for board 50:
2025-04-24 12:10:47 [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 12:10:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:52 ago, cause: software
2025-04-24 12:10:47 [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 12:10:47 [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 12:10:47 [debug] Moves scheduled 24430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 75, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294932666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:47 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16842, writes 0 timeouts 0
2025-04-24 12:10:47 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36169/37179
2025-04-24 12:10:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:47 [info] currentZPosition:0.178
2025-04-24 12:10:49 [debug] Stopped at height 0.178 mm
2025-04-24 12:10:49 [debug] Diagnostics for board 50:
2025-04-24 12:10:49 [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 12:10:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:53 ago, cause: software
2025-04-24 12:10:49 [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 12:10:49 [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 12:10:49 [debug] Moves scheduled 24434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6756, max=17045
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 4294933843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:49 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17145, writes 0 timeouts 0
2025-04-24 12:10:49 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36112/37176
2025-04-24 12:10:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9181, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:49 [info] currentZPosition:0.178
2025-04-24 12:10:50 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:50 [debug] Diagnostics for board 50:
2025-04-24 12:10:50 [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 12:10:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:55 ago, cause: software
2025-04-24 12:10:50 [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 12:10:50 [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 12:10:50 [debug] Moves scheduled 24438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6756, max=17045
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:50 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16545, writes 0 timeouts 0
2025-04-24 12:10:50 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36165/37175
2025-04-24 12:10:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:50 [info] currentZPosition:0.179
2025-04-24 12:10:51 [debug] Stopped at height 0.180 mm
2025-04-24 12:10:51 [debug] Diagnostics for board 50:
2025-04-24 12:10:51 [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 12:10:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:56 ago, cause: software
2025-04-24 12:10:51 [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 12:10:51 [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 12:10:51 [debug] Moves scheduled 24442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=18292
Sync err accum 74, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:51 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16906, writes 0 timeouts 0
2025-04-24 12:10:51 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37172
2025-04-24 12:10:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:51 [info] currentZPosition:0.180
2025-04-24 12:10:53 [debug] Stopped at height 0.180 mm
2025-04-24 12:10:53 [debug] Diagnostics for board 50:
2025-04-24 12:10:53 [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 12:10:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:57 ago, cause: software
2025-04-24 12:10:53 [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 12:10:53 [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 12:10:53 [debug] Moves scheduled 24446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=96, frequency (Hz): min=6944, max=17045
Sync err accum 82, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:53 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16525, writes 0 timeouts 0
2025-04-24 12:10:53 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36159/37174
2025-04-24 12:10:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:53 [info] currentZPosition:0.180
2025-04-24 12:10:54 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:54 [debug] Diagnostics for board 50:
2025-04-24 12:10:54 [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 12:10:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:12:59 ago, cause: software
2025-04-24 12:10:54 [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 12:10:54 [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 12:10:54 [debug] Moves scheduled 24450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 87, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:54 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17524, writes 0 timeouts 0
2025-04-24 12:10:54 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36096/37173
2025-04-24 12:10:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:54 [info] currentZPosition:0.179
2025-04-24 12:10:55 [debug] Stopped at height 0.180 mm
2025-04-24 12:10:55 [debug] Diagnostics for board 50:
2025-04-24 12:10:55 [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 12:10:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:00 ago, cause: software
2025-04-24 12:10:55 [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 12:10:55 [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 12:10:55 [debug] Moves scheduled 24454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6880, max=17045
Sync err accum 91, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:10:55 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min 0, mspos 152, reads 16077, writes 0 timeouts 0
2025-04-24 12:10:55 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36166/37176
2025-04-24 12:10:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:55 [info] currentZPosition:0.180
2025-04-24 12:10:56 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:57 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:57 [debug] Diagnostics for board 50:
2025-04-24 12:10:57 [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 12:10:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:02 ago, cause: software
2025-04-24 12:10:57 [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 12:10:57 [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 12:10:57 [debug] Moves scheduled 24460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=5725, max=17045
Sync err accum 89, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:10:57 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 21389, writes 0 timeouts 0
2025-04-24 12:10:57 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37177
2025-04-24 12:10:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:57 [info] currentZPosition:0.179
2025-04-24 12:10:58 [debug] Stopped at height 0.179 mm
2025-04-24 12:10:58 [debug] Diagnostics for board 50:
2025-04-24 12:10:58 [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 12:10:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:03 ago, cause: software
2025-04-24 12:10:58 [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 12:10:58 [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 12:10:58 [debug] Moves scheduled 24464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=92, frequency (Hz): min=6578, max=17441
Sync err accum 89, peak jitter 0/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294934212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:10:58 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16723, writes 0 timeouts 0
2025-04-24 12:10:58 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36166/37177
2025-04-24 12:10:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:10:58 [info] currentZPosition:0.179
2025-04-24 12:11:00 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:00 [debug] Diagnostics for board 50:
2025-04-24 12:11:00 [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 12:11:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:04 ago, cause: software
2025-04-24 12:11:00 [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 12:11:00 [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 12:11:00 [debug] Moves scheduled 24468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=18292
Sync err accum 83, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:00 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16747, writes 0 timeouts 0
2025-04-24 12:11:00 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37177
2025-04-24 12:11:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:00 [info] currentZPosition:0.180
2025-04-24 12:11:00 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:01 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:01 [debug] Diagnostics for board 50:
2025-04-24 12:11:01 [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 12:11:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:06 ago, cause: software
2025-04-24 12:11:01 [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 12:11:01 [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 12:11:01 [debug] Moves scheduled 24474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7075, max=17857
Sync err accum 76, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:01 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20782, writes 0 timeouts 0
2025-04-24 12:11:01 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36284/37173
2025-04-24 12:11:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:01 [info] currentZPosition:0.179
2025-04-24 12:11:03 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:03 [debug] Diagnostics for board 50:
2025-04-24 12:11:03 [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 12:11:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:07 ago, cause: software
2025-04-24 12:11:03 [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 12:11:03 [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 12:11:03 [debug] Moves scheduled 24478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6250, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294933547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:03 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 17016, writes 0 timeouts 0
2025-04-24 12:11:03 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37178
2025-04-24 12:11:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:03 [info] currentZPosition:0.180
2025-04-24 12:11:04 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:04 [debug] Diagnostics for board 50:
2025-04-24 12:11:04 [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 12:11:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:09 ago, cause: software
2025-04-24 12:11:04 [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 12:11:04 [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 12:11:04 [debug] Moves scheduled 24482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6818, max=17045
Sync err accum 66, peak jitter -2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:04 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16541, writes 0 timeouts 0
2025-04-24 12:11:04 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37179
2025-04-24 12:11:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:04 [info] currentZPosition:0.180
2025-04-24 12:11:05 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:05 [debug] Diagnostics for board 50:
2025-04-24 12:11:05 [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 12:11:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:10 ago, cause: software
2025-04-24 12:11:05 [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 12:11:05 [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 12:11:05 [debug] Moves scheduled 24486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 79, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:05 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17245, writes 0 timeouts 0
2025-04-24 12:11:05 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37174
2025-04-24 12:11:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:05 [info] currentZPosition:0.179
2025-04-24 12:11:07 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:07 [debug] Diagnostics for board 50:
2025-04-24 12:11:07 [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 12:11:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:12 ago, cause: software
2025-04-24 12:11:07 [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 12:11:07 [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 12:11:07 [debug] Moves scheduled 24490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 86, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:07 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 16837, writes 0 timeouts 0
2025-04-24 12:11:07 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36399/37175
2025-04-24 12:11:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9182, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:07 [info] currentZPosition:0.179
2025-04-24 12:11:08 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:08 [debug] Diagnostics for board 50:
2025-04-24 12:11:08 [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 12:11:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:13 ago, cause: software
2025-04-24 12:11:08 [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 12:11:08 [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 12:11:08 [debug] Moves scheduled 24494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294929501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:08 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16715, writes 0 timeouts 0
2025-04-24 12:11:08 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37174
2025-04-24 12:11:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:08 [info] currentZPosition:0.180
2025-04-24 12:11:08 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:10 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:10 [debug] Diagnostics for board 50:
2025-04-24 12:11:10 [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 12:11:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:15 ago, cause: software
2025-04-24 12:11:10 [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 12:11:10 [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 12:11:10 [debug] Moves scheduled 24500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=89, frequency (Hz): min=6147, max=17045
Sync err accum 97, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:10 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20984, writes 0 timeouts 0
2025-04-24 12:11:10 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36399/37175
2025-04-24 12:11:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9180, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:10 [info] currentZPosition:0.179
2025-04-24 12:11:11 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:11 [debug] Diagnostics for board 50:
2025-04-24 12:11:11 [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 12:11:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:16 ago, cause: software
2025-04-24 12:11:11 [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 12:11:11 [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 12:11:11 [debug] Moves scheduled 24504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17857
Sync err accum 100, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:11 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16730, writes 0 timeouts 0
2025-04-24 12:11:11 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36109/37175
2025-04-24 12:11:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:11 [info] currentZPosition:0.180
2025-04-24 12:11:12 [debug] Stopped at height 0.178 mm
2025-04-24 12:11:12 [debug] Diagnostics for board 50:
2025-04-24 12:11:12 [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 12:11:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:17 ago, cause: software
2025-04-24 12:11:12 [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 12:11:12 [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 12:11:12 [debug] Moves scheduled 24508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17857
Sync err accum 101, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:12 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17218, writes 0 timeouts 0
2025-04-24 12:11:12 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36401/37176
2025-04-24 12:11:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 827
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:12 [info] currentZPosition:0.178
2025-04-24 12:11:13 [debug] Stopped at height 0.177 mm
2025-04-24 12:11:14 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:14 [debug] Diagnostics for board 50:
2025-04-24 12:11:14 [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 12:11:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:19 ago, cause: software
2025-04-24 12:11:14 [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 12:11:14 [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 12:11:14 [debug] Moves scheduled 24514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 98, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:14 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20722, writes 0 timeouts 0
2025-04-24 12:11:14 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36101/37175
2025-04-24 12:11:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:14 [info] currentZPosition:0.180
2025-04-24 12:11:14 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:16 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:16 [debug] Diagnostics for board 50:
2025-04-24 12:11:16 [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 12:11:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:21 ago, cause: software
2025-04-24 12:11:16 [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 12:11:16 [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 12:11:16 [debug] Moves scheduled 24520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6198, max=18292
Sync err accum 89, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294931842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:16 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20935, writes 0 timeouts 0
2025-04-24 12:11:16 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36401/37178
2025-04-24 12:11:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9180, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4542, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:16 [info] currentZPosition:0.179
2025-04-24 12:11:17 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:17 [debug] Diagnostics for board 50:
2025-04-24 12:11:17 [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 12:11:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:22 ago, cause: software
2025-04-24 12:11:17 [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 12:11:17 [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 12:11:17 [debug] Moves scheduled 24524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294926496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:17 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16951, writes 0 timeouts 0
2025-04-24 12:11:17 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36115/37178
2025-04-24 12:11:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:17 [info] currentZPosition:0.180
2025-04-24 12:11:18 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:18 [debug] Diagnostics for board 50:
2025-04-24 12:11:18 [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 12:11:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:23 ago, cause: software
2025-04-24 12:11:18 [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 12:11:18 [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 12:11:18 [debug] Moves scheduled 24528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 75, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:18 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16592, writes 0 timeouts 0
2025-04-24 12:11:18 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36406/37176
2025-04-24 12:11:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:18 [info] currentZPosition:0.180
2025-04-24 12:11:20 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:20 [debug] Diagnostics for board 50:
2025-04-24 12:11:20 [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 12:11:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:25 ago, cause: software
2025-04-24 12:11:20 [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 12:11:20 [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 12:11:20 [debug] Moves scheduled 24532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17857
Sync err accum 63, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:20 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17492, writes 0 timeouts 0
2025-04-24 12:11:20 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36006/37178
2025-04-24 12:11:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:20 [info] currentZPosition:0.179
2025-04-24 12:11:21 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:21 [debug] Diagnostics for board 50:
2025-04-24 12:11:21 [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 12:11:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:26 ago, cause: software
2025-04-24 12:11:21 [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 12:11:21 [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 12:11:21 [debug] Moves scheduled 24536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 70, peak jitter -1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:21 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16492, writes 0 timeouts 0
2025-04-24 12:11:21 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36403/37172
2025-04-24 12:11:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:21 [info] currentZPosition:0.180
2025-04-24 12:11:23 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:23 [debug] Diagnostics for board 50:
2025-04-24 12:11:23 [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 12:11:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:27 ago, cause: software
2025-04-24 12:11:23 [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 12:11:23 [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 12:11:23 [debug] Moves scheduled 24540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17857
Sync err accum 80, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:23 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17150, writes 0 timeouts 0
2025-04-24 12:11:23 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36104/37175
2025-04-24 12:11:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:23 [info] currentZPosition:0.180
2025-04-24 12:11:24 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:24 [debug] Diagnostics for board 50:
2025-04-24 12:11:24 [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 12:11:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:29 ago, cause: software
2025-04-24 12:11:24 [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 12:11:24 [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 12:11:24 [debug] Moves scheduled 24544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6410, max=17045
Sync err accum 86, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:24 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16480, writes 0 timeouts 0
2025-04-24 12:11:24 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36403/37176
2025-04-24 12:11:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:24 [info] currentZPosition:0.180
2025-04-24 12:11:25 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:25 [debug] Diagnostics for board 50:
2025-04-24 12:11:25 [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 12:11:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:30 ago, cause: software
2025-04-24 12:11:25 [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 12:11:25 [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 12:11:25 [debug] Moves scheduled 24548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6000, max=17045
Sync err accum 93, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:25 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17364, writes 0 timeouts 0
2025-04-24 12:11:25 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37170
2025-04-24 12:11:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:25 [info] currentZPosition:0.180
2025-04-24 12:11:27 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:27 [debug] Diagnostics for board 50:
2025-04-24 12:11:27 [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 12:11:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:31 ago, cause: software
2025-04-24 12:11:27 [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 12:11:27 [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 12:11:27 [debug] Moves scheduled 24552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:27 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16408, writes 0 timeouts 0
2025-04-24 12:11:27 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36397/37174
2025-04-24 12:11:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:27 [info] currentZPosition:0.180
2025-04-24 12:11:28 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:28 [debug] Diagnostics for board 50:
2025-04-24 12:11:28 [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 12:11:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:33 ago, cause: software
2025-04-24 12:11:28 [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 12:11:28 [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 12:11:28 [debug] Moves scheduled 24556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 97, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294933078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:28 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17522, writes 0 timeouts 0
2025-04-24 12:11:28 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36110/37171
2025-04-24 12:11:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:28 [info] currentZPosition:0.179
2025-04-24 12:11:29 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:29 [debug] Diagnostics for board 50:
2025-04-24 12:11:29 [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 12:11:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:34 ago, cause: software
2025-04-24 12:11:29 [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 12:11:29 [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 12:11:29 [debug] Moves scheduled 24560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:29 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16295, writes 0 timeouts 0
2025-04-24 12:11:29 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37176
2025-04-24 12:11:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:29 [info] currentZPosition:0.180
2025-04-24 12:11:31 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:31 [debug] Diagnostics for board 50:
2025-04-24 12:11:31 [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 12:11:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:35 ago, cause: software
2025-04-24 12:11:31 [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 12:11:31 [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 12:11:31 [debug] Moves scheduled 24564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=76, frequency (Hz): min=6410, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294936039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:31 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 17124, writes 0 timeouts 0
2025-04-24 12:11:31 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37172
2025-04-24 12:11:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:31 [info] currentZPosition:0.180
2025-04-24 12:11:32 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:32 [debug] Diagnostics for board 50:
2025-04-24 12:11:32 [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 12:11:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:37 ago, cause: software
2025-04-24 12:11:32 [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 12:11:32 [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 12:11:32 [debug] Moves scheduled 24568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:32 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16893, writes 0 timeouts 0
2025-04-24 12:11:32 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36378/37175
2025-04-24 12:11:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:32 [info] currentZPosition:0.180
2025-04-24 12:11:33 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:33 [debug] Diagnostics for board 50:
2025-04-24 12:11:33 [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 12:11:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:38 ago, cause: software
2025-04-24 12:11:33 [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 12:11:33 [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 12:11:33 [debug] Moves scheduled 24572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 78, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:33 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17310, writes 0 timeouts 0
2025-04-24 12:11:33 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36110/37179
2025-04-24 12:11:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:33 [info] currentZPosition:0.179
2025-04-24 12:11:35 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:35 [debug] Diagnostics for board 50:
2025-04-24 12:11:35 [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 12:11:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:40 ago, cause: software
2025-04-24 12:11:35 [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 12:11:35 [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 12:11:35 [debug] Moves scheduled 24576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=77, frequency (Hz): min=6637, max=18292
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294936639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:35 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16368, writes 0 timeouts 0
2025-04-24 12:11:35 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36386/37178
2025-04-24 12:11:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:35 [info] currentZPosition:0.180
2025-04-24 12:11:36 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:36 [debug] Diagnostics for board 50:
2025-04-24 12:11:36 [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 12:11:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:41 ago, cause: software
2025-04-24 12:11:36 [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 12:11:36 [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 12:11:36 [debug] Moves scheduled 24580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
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 4294936560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:36 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17219, writes 0 timeouts 0
2025-04-24 12:11:36 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36104/37173
2025-04-24 12:11:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:36 [info] currentZPosition:0.180
2025-04-24 12:11:37 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:37 [debug] Diagnostics for board 50:
2025-04-24 12:11:37 [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 12:11:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:42 ago, cause: software
2025-04-24 12:11:37 [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 12:11:37 [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 12:11:37 [debug] Moves scheduled 24584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6198, max=17857
Sync err accum 77, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:37 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16579, writes 0 timeouts 0
2025-04-24 12:11:37 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36403/37168
2025-04-24 12:11:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:37 [info] currentZPosition:0.180
2025-04-24 12:11:39 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:39 [debug] Diagnostics for board 50:
2025-04-24 12:11:39 [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 12:11:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:13:44 ago, cause: software
2025-04-24 12:11:39 [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 12:11:39 [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 12:11:39 [debug] Moves scheduled 24588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 85, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294932011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:39 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17403, writes 0 timeouts 0
2025-04-24 12:11:39 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36108/37175
2025-04-24 12:11:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9169, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4553, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:39 [info] currentZPosition:0.179
2025-04-24 12:11:40 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:40 [debug] Diagnostics for board 50:
2025-04-24 12:11:40 [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 12:11:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:45 ago, cause: software
2025-04-24 12:11:40 [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 12:11:40 [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 12:11:40 [debug] Moves scheduled 24592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6000, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:40 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16414, writes 0 timeouts 0
2025-04-24 12:11:40 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36375/37176
2025-04-24 12:11:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:40 [info] currentZPosition:0.180
2025-04-24 12:11:41 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:41 [debug] Diagnostics for board 50:
2025-04-24 12:11:41 [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 12:11:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:46 ago, cause: software
2025-04-24 12:11:41 [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 12:11:41 [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 12:11:41 [debug] Moves scheduled 24596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=18292
Sync err accum 95, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:41 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 17149, writes 0 timeouts 0
2025-04-24 12:11:41 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36103/37172
2025-04-24 12:11:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:42 [info] currentZPosition:0.180
2025-04-24 12:11:43 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:43 [debug] Diagnostics for board 50:
2025-04-24 12:11:43 [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 12:11:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:13:48 ago, cause: software
2025-04-24 12:11:43 [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 12:11:43 [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 12:11:43 [debug] Moves scheduled 24600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 96, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932379 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:43 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16902, writes 0 timeouts 0
2025-04-24 12:11:43 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37175
2025-04-24 12:11:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:43 [info] currentZPosition:0.180
2025-04-24 12:11:44 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:44 [debug] Diagnostics for board 50:
2025-04-24 12:11:44 [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 12:11:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:49 ago, cause: software
2025-04-24 12:11:44 [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 12:11:44 [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 12:11:44 [debug] Moves scheduled 24604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6410, max=17045
Sync err accum 94, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294930224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:44 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16985, writes 0 timeouts 0
2025-04-24 12:11:44 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36109/37172
2025-04-24 12:11:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:44 [info] currentZPosition:0.180
2025-04-24 12:11:46 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:46 [debug] Diagnostics for board 50:
2025-04-24 12:11:46 [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 12:11:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:50 ago, cause: software
2025-04-24 12:11:46 [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 12:11:46 [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 12:11:46 [debug] Moves scheduled 24608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=73, frequency (Hz): min=6818, max=17045
Sync err accum 91, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294933883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:46 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16891, writes 0 timeouts 0
2025-04-24 12:11:46 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36402/37175
2025-04-24 12:11:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:46 [info] currentZPosition:0.180
2025-04-24 12:11:47 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:47 [debug] Diagnostics for board 50:
2025-04-24 12:11:47 [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 12:11:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:52 ago, cause: software
2025-04-24 12:11:47 [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 12:11:47 [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 12:11:47 [debug] Moves scheduled 24612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17857
Sync err accum 89, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:47 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17109, writes 0 timeouts 0
2025-04-24 12:11:47 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36107/37178
2025-04-24 12:11:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:47 [info] currentZPosition:0.180
2025-04-24 12:11:48 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:48 [debug] Diagnostics for board 50:
2025-04-24 12:11:48 [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 12:11:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:53 ago, cause: software
2025-04-24 12:11:48 [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 12:11:48 [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 12:11:48 [debug] Moves scheduled 24616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 83, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:48 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16807, writes 0 timeouts 0
2025-04-24 12:11:48 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36402/37177
2025-04-24 12:11:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9189, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:48 [info] currentZPosition:0.179
2025-04-24 12:11:50 [debug] Stopped at height 0.178 mm
2025-04-24 12:11:50 [debug] Diagnostics for board 50:
2025-04-24 12:11:50 [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 12:11:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:54 ago, cause: software
2025-04-24 12:11:50 [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 12:11:50 [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 12:11:50 [debug] Moves scheduled 24620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 73, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294929295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:11:50 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min 0, mspos 664, reads 17632, writes 0 timeouts 0
2025-04-24 12:11:50 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36098/37175
2025-04-24 12:11:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 827
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:50 [info] currentZPosition:0.178
2025-04-24 12:11:50 [debug] Stopped at height 0.177 mm
2025-04-24 12:11:51 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:51 [debug] Diagnostics for board 50:
2025-04-24 12:11:51 [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 12:11:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:56 ago, cause: software
2025-04-24 12:11:51 [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 12:11:51 [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 12:11:51 [debug] Moves scheduled 24626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 61, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:51 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 20166, writes 0 timeouts 0
2025-04-24 12:11:51 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36402/37177
2025-04-24 12:11:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9182, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:51 [info] currentZPosition:0.179
2025-04-24 12:11:52 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:53 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:53 [debug] Diagnostics for board 50:
2025-04-24 12:11:53 [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 12:11:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:58 ago, cause: software
2025-04-24 12:11:53 [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 12:11:53 [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 12:11:53 [debug] Moves scheduled 24632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 79, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:53 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 21187, writes 0 timeouts 0
2025-04-24 12:11:53 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37174
2025-04-24 12:11:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9209, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:53 [info] currentZPosition:0.179
2025-04-24 12:11:54 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:54 [debug] Diagnostics for board 50:
2025-04-24 12:11:54 [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 12:11:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:13:59 ago, cause: software
2025-04-24 12:11:54 [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 12:11:54 [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 12:11:54 [debug] Moves scheduled 24636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 86, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294926168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:54 [debug] Driver 0: pos -3526, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 16376, writes 0 timeouts 0
2025-04-24 12:11:54 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36286/37176
2025-04-24 12:11:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:54 [info] currentZPosition:0.180
2025-04-24 12:11:56 [debug] Stopped at height 0.181 mm
2025-04-24 12:11:56 [debug] Diagnostics for board 50:
2025-04-24 12:11:56 [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 12:11:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:00 ago, cause: software
2025-04-24 12:11:56 [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 12:11:56 [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 12:11:56 [debug] Moves scheduled 24640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:11:56 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 17038, writes 0 timeouts 0
2025-04-24 12:11:56 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36110/37174
2025-04-24 12:11:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:56 [info] currentZPosition:0.181
2025-04-24 12:11:57 [debug] Stopped at height 0.180 mm
2025-04-24 12:11:57 [debug] Diagnostics for board 50:
2025-04-24 12:11:57 [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 12:11:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:02 ago, cause: software
2025-04-24 12:11:57 [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 12:11:57 [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 12:11:57 [debug] Moves scheduled 24644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6637, max=17857
Sync err accum 93, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:57 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16783, writes 0 timeouts 0
2025-04-24 12:11:57 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36153/37174
2025-04-24 12:11:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:57 [info] currentZPosition:0.180
2025-04-24 12:11:58 [debug] Stopped at height 0.179 mm
2025-04-24 12:11:58 [debug] Diagnostics for board 50:
2025-04-24 12:11:58 [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 12:11:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:03 ago, cause: software
2025-04-24 12:11:58 [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 12:11:58 [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 12:11:58 [debug] Moves scheduled 24648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6147, max=17045
Sync err accum 97, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294931728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:11:58 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17421, writes 0 timeouts 0
2025-04-24 12:11:58 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36109/37172
2025-04-24 12:11:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:11:58 [info] currentZPosition:0.179
2025-04-24 12:12:00 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:00 [debug] Diagnostics for board 50:
2025-04-24 12:12:00 [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 12:12:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:04 ago, cause: software
2025-04-24 12:12:00 [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 12:12:00 [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 12:12:00 [debug] Moves scheduled 24652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 95, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294931744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:00 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 16035, writes 0 timeouts 0
2025-04-24 12:12:00 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 294, adv 36161/37175
2025-04-24 12:12:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:00 [info] currentZPosition:0.181
2025-04-24 12:12:00 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:01 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:01 [debug] Diagnostics for board 50:
2025-04-24 12:12:01 [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 12:12:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:14:06 ago, cause: software
2025-04-24 12:12:01 [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 12:12:01 [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 12:12:01 [debug] Moves scheduled 24658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:01 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 21403, writes 0 timeouts 0
2025-04-24 12:12:01 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36111/37176
2025-04-24 12:12:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:01 [info] currentZPosition:0.180
2025-04-24 12:12:03 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:03 [debug] Diagnostics for board 50:
2025-04-24 12:12:03 [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 12:12:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:07 ago, cause: software
2025-04-24 12:12:03 [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 12:12:03 [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 12:12:03 [debug] Moves scheduled 24662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:03 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16340, writes 0 timeouts 0
2025-04-24 12:12:03 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36169/37172
2025-04-24 12:12:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:03 [info] currentZPosition:0.181
2025-04-24 12:12:04 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:04 [debug] Diagnostics for board 50:
2025-04-24 12:12:04 [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 12:12:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:09 ago, cause: software
2025-04-24 12:12:04 [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 12:12:04 [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 12:12:04 [debug] Moves scheduled 24666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6696, max=17045
Sync err accum 73, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933671 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:04 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 17595, writes 0 timeouts 0
2025-04-24 12:12:04 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36112/37172
2025-04-24 12:12:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9198, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:04 [info] currentZPosition:0.179
2025-04-24 12:12:04 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:06 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:06 [debug] Diagnostics for board 50:
2025-04-24 12:12:06 [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 12:12:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:11 ago, cause: software
2025-04-24 12:12:06 [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 12:12:06 [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 12:12:06 [debug] Moves scheduled 24672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=6198, max=17045
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:06 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20494, writes 0 timeouts 0
2025-04-24 12:12:06 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36165/37179
2025-04-24 12:12:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9192, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:06 [info] currentZPosition:0.179
2025-04-24 12:12:07 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:07 [debug] Diagnostics for board 50:
2025-04-24 12:12:07 [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 12:12:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:12 ago, cause: software
2025-04-24 12:12:07 [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 12:12:07 [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 12:12:07 [debug] Moves scheduled 24676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:07 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16634, writes 0 timeouts 0
2025-04-24 12:12:07 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36087/37174
2025-04-24 12:12:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 818
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:07 [info] currentZPosition:0.181
2025-04-24 12:12:07 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:09 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:09 [debug] Diagnostics for board 50:
2025-04-24 12:12:09 [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 12:12:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:14 ago, cause: software
2025-04-24 12:12:09 [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 12:12:09 [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 12:12:09 [debug] Moves scheduled 24682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294932345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:09 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20856, writes 0 timeouts 0
2025-04-24 12:12:09 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36159/37175
2025-04-24 12:12:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:09 [info] currentZPosition:0.180
2025-04-24 12:12:10 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:10 [debug] Diagnostics for board 50:
2025-04-24 12:12:10 [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 12:12:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:15 ago, cause: software
2025-04-24 12:12:10 [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 12:12:10 [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 12:12:10 [debug] Moves scheduled 24686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 90, peak jitter 1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:10 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17305, writes 0 timeouts 0
2025-04-24 12:12:10 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37176
2025-04-24 12:12:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9189, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:10 [info] currentZPosition:0.180
2025-04-24 12:12:11 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:11 [debug] Diagnostics for board 50:
2025-04-24 12:12:11 [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 12:12:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:16 ago, cause: software
2025-04-24 12:12:11 [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 12:12:11 [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 12:12:11 [debug] Moves scheduled 24690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=18292
Sync err accum 97, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:11 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16662, writes 0 timeouts 0
2025-04-24 12:12:11 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36165/37175
2025-04-24 12:12:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:12 [info] currentZPosition:0.180
2025-04-24 12:12:13 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:13 [debug] Diagnostics for board 50:
2025-04-24 12:12:13 [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 12:12:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:18 ago, cause: software
2025-04-24 12:12:13 [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 12:12:13 [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 12:12:13 [debug] Moves scheduled 24694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=73, frequency (Hz): min=629, max=17857
Sync err accum 101, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:13 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17244, writes 11 timeouts 1
2025-04-24 12:12:13 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36107/37175
2025-04-24 12:12:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:13 [info] currentZPosition:0.179
2025-04-24 12:12:14 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:14 [debug] Diagnostics for board 50:
2025-04-24 12:12:14 [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 12:12:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:19 ago, cause: software
2025-04-24 12:12:14 [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 12:12:14 [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 12:12:14 [debug] Moves scheduled 24698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6578, max=17045
Sync err accum 98, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967189 ticks, enabled, next step interrupt due in 4294930943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32
2025-04-24 12:12:14 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 16011, writes 0 timeouts 0
2025-04-24 12:12:14 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36164/37175
2025-04-24 12:12:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:14 [info] currentZPosition:0.181
2025-04-24 12:12:15 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:16 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:16 [debug] Diagnostics for board 50:
2025-04-24 12:12:16 [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 12:12:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:21 ago, cause: software
2025-04-24 12:12:16 [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 12:12:16 [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 12:12:16 [debug] Moves scheduled 24704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17441
Sync err accum 97, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:16 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 21200, writes 0 timeouts 0
2025-04-24 12:12:16 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37178
2025-04-24 12:12:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:16 [info] currentZPosition:0.181
2025-04-24 12:12:16 [debug] Stopped at height 0.183 mm
2025-04-24 12:12:17 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:18 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:18 [debug] Diagnostics for board 50:
2025-04-24 12:12:18 [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 12:12:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:23 ago, cause: software
2025-04-24 12:12:18 [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 12:12:18 [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 12:12:18 [debug] Moves scheduled 24712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=7009, max=17045
Sync err accum 92, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294932922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:18 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 24682, writes 0 timeouts 0
2025-04-24 12:12:18 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36157/37177
2025-04-24 12:12:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:18 [info] currentZPosition:0.181
2025-04-24 12:12:18 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:19 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:19 [debug] Diagnostics for board 50:
2025-04-24 12:12:19 [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 12:12:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:24 ago, cause: software
2025-04-24 12:12:19 [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 12:12:19 [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 12:12:19 [debug] Moves scheduled 24718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 82, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294935849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:12:19 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 21153, writes 0 timeouts 0
2025-04-24 12:12:19 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36109/37178
2025-04-24 12:12:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:20 [info] currentZPosition:0.180
2025-04-24 12:12:21 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:21 [debug] Diagnostics for board 50:
2025-04-24 12:12:21 [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 12:12:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:26 ago, cause: software
2025-04-24 12:12:21 [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 12:12:21 [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 12:12:21 [debug] Moves scheduled 24722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6250, max=18292
Sync err accum 63, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294750332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:21 [debug] Driver 0: pos -3531, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 31274, writes 0 timeouts 0
2025-04-24 12:12:21 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 64, 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 288, adv 36161/37178
2025-04-24 12:12:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:22 [info] currentZPosition:0.180
2025-04-24 12:12:24 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:24 [debug] Diagnostics for board 50:
2025-04-24 12:12:24 [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 12:12:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:29 ago, cause: software
2025-04-24 12:12:24 [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 12:12:24 [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 12:12:24 [debug] Moves scheduled 24726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6198, max=18292
Sync err accum 70, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:24 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21401, writes 0 timeouts 0
2025-04-24 12:12:24 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36095/37176
2025-04-24 12:12:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:24 [info] currentZPosition:0.180
2025-04-24 12:12:25 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:25 [debug] Diagnostics for board 50:
2025-04-24 12:12:25 [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 12:12:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:30 ago, cause: software
2025-04-24 12:12:25 [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 12:12:25 [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 12:12:25 [debug] Moves scheduled 24730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6578, max=17045
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:25 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16264, writes 0 timeouts 0
2025-04-24 12:12:25 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36164/37177
2025-04-24 12:12:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:25 [info] currentZPosition:0.181
2025-04-24 12:12:26 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:26 [debug] Diagnostics for board 50:
2025-04-24 12:12:26 [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 12:12:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:31 ago, cause: software
2025-04-24 12:12:26 [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 12:12:26 [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 12:12:26 [debug] Moves scheduled 24734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6880, max=18292
Sync err accum 68, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:26 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 17499, writes 0 timeouts 0
2025-04-24 12:12:26 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36108/37176
2025-04-24 12:12:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9194, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:26 [info] currentZPosition:0.180
2025-04-24 12:12:28 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:28 [debug] Diagnostics for board 50:
2025-04-24 12:12:28 [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 12:12:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:33 ago, cause: software
2025-04-24 12:12:28 [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 12:12:28 [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 12:12:28 [debug] Moves scheduled 24738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294936406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32
2025-04-24 12:12:28 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16145, writes 0 timeouts 0
2025-04-24 12:12:28 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36163/37175
2025-04-24 12:12:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:28 [info] currentZPosition:0.181
2025-04-24 12:12:29 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:29 [debug] Diagnostics for board 50:
2025-04-24 12:12:29 [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 12:12:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:34 ago, cause: software
2025-04-24 12:12:29 [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 12:12:29 [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 12:12:29 [debug] Moves scheduled 24742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=507, max=17045
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294931780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:29 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17601, writes 11 timeouts 1
2025-04-24 12:12:29 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37174
2025-04-24 12:12:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:29 [info] currentZPosition:0.180
2025-04-24 12:12:29 [debug] Stopped at height 0.179 mm
2025-04-24 12:12:31 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:31 [debug] Diagnostics for board 50:
2025-04-24 12:12:31 [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 12:12:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:36 ago, cause: software
2025-04-24 12:12:31 [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 12:12:31 [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 12:12:31 [debug] Moves scheduled 24748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6756, max=17857
Sync err accum 76, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:31 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 20414, writes 0 timeouts 0
2025-04-24 12:12:31 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, 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 288, adv 36159/37172
2025-04-24 12:12:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:31 [info] currentZPosition:0.180
2025-04-24 12:12:32 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:32 [debug] Diagnostics for board 50:
2025-04-24 12:12:32 [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 12:12:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:37 ago, cause: software
2025-04-24 12:12:32 [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 12:12:32 [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 12:12:32 [debug] Moves scheduled 24752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 87, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:32 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16995, writes 0 timeouts 0
2025-04-24 12:12:32 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36106/37173
2025-04-24 12:12:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:32 [info] currentZPosition:0.181
2025-04-24 12:12:33 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:33 [debug] Diagnostics for board 50:
2025-04-24 12:12:33 [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 12:12:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:38 ago, cause: software
2025-04-24 12:12:33 [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 12:12:33 [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 12:12:33 [debug] Moves scheduled 24756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6637, max=17045
Sync err accum 96, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294934944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:33 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16567, writes 0 timeouts 0
2025-04-24 12:12:33 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36162/37174
2025-04-24 12:12:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:33 [info] currentZPosition:0.180
2025-04-24 12:12:35 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:35 [debug] Diagnostics for board 50:
2025-04-24 12:12:35 [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 12:12:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:40 ago, cause: software
2025-04-24 12:12:35 [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 12:12:35 [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 12:12:35 [debug] Moves scheduled 24760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=508, max=17045
Sync err accum 99, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curren
2025-04-24 12:12:35 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17048, writes 11 timeouts 1
2025-04-24 12:12:35 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36110/37175
2025-04-24 12:12:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:35 [info] currentZPosition:0.181
2025-04-24 12:12:36 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:36 [debug] Diagnostics for board 50:
2025-04-24 12:12:36 [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 12:12:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:14:41 ago, cause: software
2025-04-24 12:12:36 [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 12:12:36 [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 12:12:36 [debug] Moves scheduled 24764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=113, frequency (Hz): min=6944, max=17045
Sync err accum 103, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:12:36 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16538, writes 0 timeouts 0
2025-04-24 12:12:36 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36165/37177
2025-04-24 12:12:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:36 [info] currentZPosition:0.181
2025-04-24 12:12:37 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:37 [debug] Diagnostics for board 50:
2025-04-24 12:12:37 [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 12:12:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:42 ago, cause: software
2025-04-24 12:12:37 [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 12:12:37 [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 12:12:37 [debug] Moves scheduled 24768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 104, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:37 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17491, writes 0 timeouts 0
2025-04-24 12:12:37 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36109/37174
2025-04-24 12:12:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9207, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:38 [info] currentZPosition:0.180
2025-04-24 12:12:39 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:39 [debug] Diagnostics for board 50:
2025-04-24 12:12:39 [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 12:12:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:44 ago, cause: software
2025-04-24 12:12:39 [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 12:12:39 [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 12:12:39 [debug] Moves scheduled 24772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6250, max=17045
Sync err accum 102, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294934529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:12:39 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16348, writes 0 timeouts 0
2025-04-24 12:12:39 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36159/37169
2025-04-24 12:12:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:39 [info] currentZPosition:0.181
2025-04-24 12:12:40 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:40 [debug] Diagnostics for board 50:
2025-04-24 12:12:40 [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 12:12:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:45 ago, cause: software
2025-04-24 12:12:40 [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 12:12:40 [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 12:12:40 [debug] Moves scheduled 24776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17857
Sync err accum 99, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294932376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:40 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17362, writes 0 timeouts 0
2025-04-24 12:12:40 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36105/37176
2025-04-24 12:12:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:40 [info] currentZPosition:0.180
2025-04-24 12:12:42 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:42 [debug] Diagnostics for board 50:
2025-04-24 12:12:42 [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 12:12:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:46 ago, cause: software
2025-04-24 12:12:42 [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 12:12:42 [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 12:12:42 [debug] Moves scheduled 24780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 94, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294931814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:42 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16782, writes 0 timeouts 0
2025-04-24 12:12:42 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36167/37176
2025-04-24 12:12:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9212, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:42 [info] currentZPosition:0.180
2025-04-24 12:12:43 [debug] Stopped at height 0.182 mm
2025-04-24 12:12:43 [debug] Diagnostics for board 50:
2025-04-24 12:12:43 [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 12:12:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:48 ago, cause: software
2025-04-24 12:12:43 [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 12:12:43 [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 12:12:43 [debug] Moves scheduled 24784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6147, max=17857
Sync err accum 85, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294935337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, c
2025-04-24 12:12:43 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min 0, mspos 168, reads 16459, writes 0 timeouts 0
2025-04-24 12:12:43 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 12:12:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:43 [info] currentZPosition:0.182
2025-04-24 12:12:43 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:45 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:45 [debug] Diagnostics for board 50:
2025-04-24 12:12:45 [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 12:12:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:49 ago, cause: software
2025-04-24 12:12:45 [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 12:12:45 [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 12:12:45 [debug] Moves scheduled 24790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 71, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294932632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:45 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 20922, writes 0 timeouts 0
2025-04-24 12:12:45 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36161/37179
2025-04-24 12:12:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9174, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:45 [info] currentZPosition:0.181
2025-04-24 12:12:46 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:46 [debug] Diagnostics for board 50:
2025-04-24 12:12:46 [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 12:12:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:51 ago, cause: software
2025-04-24 12:12:46 [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 12:12:46 [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 12:12:46 [debug] Moves scheduled 24794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 62, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294929535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:46 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 17020, writes 0 timeouts 0
2025-04-24 12:12:46 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36098/37178
2025-04-24 12:12:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:46 [info] currentZPosition:0.181
2025-04-24 12:12:47 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:47 [debug] Diagnostics for board 50:
2025-04-24 12:12:47 [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 12:12:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:52 ago, cause: software
2025-04-24 12:12:47 [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 12:12:47 [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 12:12:47 [debug] Moves scheduled 24798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=17045
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294933925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:47 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16609, writes 0 timeouts 0
2025-04-24 12:12:47 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36160/37174
2025-04-24 12:12:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:47 [info] currentZPosition:0.181
2025-04-24 12:12:49 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:49 [debug] Diagnostics for board 50:
2025-04-24 12:12:49 [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 12:12:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:53 ago, cause: software
2025-04-24 12:12:49 [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 12:12:49 [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 12:12:49 [debug] Moves scheduled 24802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17857
Sync err accum 79, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:49 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17185, writes 0 timeouts 0
2025-04-24 12:12:49 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36106/37172
2025-04-24 12:12:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:49 [info] currentZPosition:0.181
2025-04-24 12:12:50 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:50 [debug] Diagnostics for board 50:
2025-04-24 12:12:50 [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 12:12:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:55 ago, cause: software
2025-04-24 12:12:50 [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 12:12:50 [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 12:12:50 [debug] Moves scheduled 24806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6696, max=18292
Sync err accum 85, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294931216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:50 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16868, writes 0 timeouts 0
2025-04-24 12:12:50 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36283/37172
2025-04-24 12:12:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:50 [info] currentZPosition:0.180
2025-04-24 12:12:51 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:51 [debug] Diagnostics for board 50:
2025-04-24 12:12:51 [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 12:12:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:56 ago, cause: software
2025-04-24 12:12:51 [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 12:12:51 [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 12:12:51 [debug] Moves scheduled 24810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6302, max=17045
Sync err accum 90, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294931383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:12:51 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 17379, writes 0 timeouts 0
2025-04-24 12:12:51 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36109/37176
2025-04-24 12:12:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:51 [info] currentZPosition:0.180
2025-04-24 12:12:53 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:53 [debug] Diagnostics for board 50:
2025-04-24 12:12:53 [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 12:12:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:57 ago, cause: software
2025-04-24 12:12:53 [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 12:12:53 [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 12:12:53 [debug] Moves scheduled 24814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6355, max=17045
Sync err accum 91, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294936141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:53 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16266, writes 0 timeouts 0
2025-04-24 12:12:53 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36410/37175
2025-04-24 12:12:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:53 [info] currentZPosition:0.181
2025-04-24 12:12:54 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:54 [debug] Diagnostics for board 50:
2025-04-24 12:12:54 [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 12:12:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:14:59 ago, cause: software
2025-04-24 12:12:54 [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 12:12:54 [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 12:12:54 [debug] Moves scheduled 24818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6147, max=17857
Sync err accum 88, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294934523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:12:54 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16943, writes 0 timeouts 0
2025-04-24 12:12:54 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36098/37176
2025-04-24 12:12:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:54 [info] currentZPosition:0.181
2025-04-24 12:12:55 [debug] Stopped at height 0.181 mm
2025-04-24 12:12:55 [debug] Diagnostics for board 50:
2025-04-24 12:12:55 [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 12:12:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:00 ago, cause: software
2025-04-24 12:12:55 [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 12:12:55 [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 12:12:55 [debug] Moves scheduled 24822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6637, max=17857
Sync err accum 85, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294932744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:55 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16845, writes 0 timeouts 0
2025-04-24 12:12:55 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36399/37175
2025-04-24 12:12:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:55 [info] currentZPosition:0.181
2025-04-24 12:12:57 [debug] Stopped at height 0.180 mm
2025-04-24 12:12:57 [debug] Diagnostics for board 50:
2025-04-24 12:12:57 [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 12:12:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:02 ago, cause: software
2025-04-24 12:12:57 [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 12:12:57 [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 12:12:57 [debug] Moves scheduled 24826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17857
Sync err accum 80, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294931562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:57 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 17488, writes 0 timeouts 0
2025-04-24 12:12:57 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37172
2025-04-24 12:12:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9205, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:57 [info] currentZPosition:0.180
2025-04-24 12:12:58 [debug] Stopped at height 0.182 mm
2025-04-24 12:12:58 [debug] Diagnostics for board 50:
2025-04-24 12:12:58 [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 12:12:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:03 ago, cause: software
2025-04-24 12:12:58 [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 12:12:58 [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 12:12:58 [debug] Moves scheduled 24830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 75, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:12:58 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 16013, writes 0 timeouts 0
2025-04-24 12:12:58 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36404/37176
2025-04-24 12:12:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:12:58 [info] currentZPosition:0.182
2025-04-24 12:12:58 [debug] Stopped at height 0.180 mm
2025-04-24 12:13:00 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:00 [debug] Diagnostics for board 50:
2025-04-24 12:13:00 [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 12:13:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:05 ago, cause: software
2025-04-24 12:13:00 [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 12:13:00 [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 12:13:00 [debug] Moves scheduled 24836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=5555, max=17045
Sync err accum 63, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294933377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:00 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 21344, writes 0 timeouts 0
2025-04-24 12:13:00 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37176
2025-04-24 12:13:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:00 [info] currentZPosition:0.181
2025-04-24 12:13:01 [debug] Stopped at height 0.180 mm
2025-04-24 12:13:01 [debug] Diagnostics for board 50:
2025-04-24 12:13:01 [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 12:13:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:06 ago, cause: software
2025-04-24 12:13:01 [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 12:13:01 [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 12:13:01 [debug] Moves scheduled 24840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 64, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:01 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min 0, mspos 520, reads 16867, writes 0 timeouts 0
2025-04-24 12:13:01 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36404/37174
2025-04-24 12:13:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9208, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:01 [info] currentZPosition:0.180
2025-04-24 12:13:02 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:02 [debug] Diagnostics for board 50:
2025-04-24 12:13:02 [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 12:13:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:07 ago, cause: software
2025-04-24 12:13:02 [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 12:13:02 [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 12:13:02 [debug] Moves scheduled 24844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5813, max=17045
Sync err accum 67, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:02 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 16668, writes 0 timeouts 0
2025-04-24 12:13:02 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36110/37175
2025-04-24 12:13:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:02 [info] currentZPosition:0.182
2025-04-24 12:13:03 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:04 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:04 [debug] Diagnostics for board 50:
2025-04-24 12:13:04 [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 12:13:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:09 ago, cause: software
2025-04-24 12:13:04 [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 12:13:04 [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 12:13:04 [debug] Moves scheduled 24850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5639, max=17045
Sync err accum 71, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:04 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 20515, writes 0 timeouts 0
2025-04-24 12:13:04 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36402/37177
2025-04-24 12:13:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:04 [info] currentZPosition:0.181
2025-04-24 12:13:05 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:05 [debug] Diagnostics for board 50:
2025-04-24 12:13:05 [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 12:13:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:10 ago, cause: software
2025-04-24 12:13:05 [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 12:13:05 [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 12:13:05 [debug] Moves scheduled 24854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 73, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:05 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 17367, writes 0 timeouts 0
2025-04-24 12:13:05 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 283, adv 36111/37175
2025-04-24 12:13:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:06 [info] currentZPosition:0.181
2025-04-24 12:13:07 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:07 [debug] Diagnostics for board 50:
2025-04-24 12:13:07 [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 12:13:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:12 ago, cause: software
2025-04-24 12:13:07 [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 12:13:07 [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 12:13:07 [debug] Moves scheduled 24858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6521, max=17045
Sync err accum 70, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:07 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16484, writes 0 timeouts 0
2025-04-24 12:13:07 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36404/37173
2025-04-24 12:13:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:07 [info] currentZPosition:0.182
2025-04-24 12:13:08 [debug] Stopped at height 0.180 mm
2025-04-24 12:13:08 [debug] Diagnostics for board 50:
2025-04-24 12:13:08 [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 12:13:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:13 ago, cause: software
2025-04-24 12:13:08 [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 12:13:08 [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 12:13:08 [debug] Moves scheduled 24862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6198, max=17045
Sync err accum 64, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294935078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:08 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 17683, writes 0 timeouts 0
2025-04-24 12:13:08 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36112/37170
2025-04-24 12:13:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9234, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:08 [info] currentZPosition:0.180
2025-04-24 12:13:09 [debug] Stopped at height 0.179 mm
2025-04-24 12:13:10 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:10 [debug] Diagnostics for board 50:
2025-04-24 12:13:10 [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 12:13:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:15 ago, cause: software
2025-04-24 12:13:10 [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 12:13:10 [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 12:13:10 [debug] Moves scheduled 24868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 71, peak jitter -1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:10 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 19969, writes 0 timeouts 0
2025-04-24 12:13:10 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36401/37178
2025-04-24 12:13:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:10 [info] currentZPosition:0.182
2025-04-24 12:13:10 [debug] Stopped at height 0.179 mm
2025-04-24 12:13:11 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:11 [debug] Diagnostics for board 50:
2025-04-24 12:13:11 [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 12:13:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:16 ago, cause: software
2025-04-24 12:13:11 [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 12:13:11 [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 12:13:11 [debug] Moves scheduled 24874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=97, frequency (Hz): min=6250, max=17857
Sync err accum 81, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294928469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:11 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 21218, writes 0 timeouts 0
2025-04-24 12:13:11 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36104/37175
2025-04-24 12:13:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:12 [info] currentZPosition:0.181
2025-04-24 12:13:12 [debug] Stopped at height 0.180 mm
2025-04-24 12:13:13 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:13 [debug] Diagnostics for board 50:
2025-04-24 12:13:13 [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 12:13:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:18 ago, cause: software
2025-04-24 12:13:13 [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 12:13:13 [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 12:13:13 [debug] Moves scheduled 24880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=18292
Sync err accum 89, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:13 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20417, writes 0 timeouts 0
2025-04-24 12:13:13 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, 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 288, adv 36396/37176
2025-04-24 12:13:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:13 [info] currentZPosition:0.182
2025-04-24 12:13:14 [debug] Stopped at height 0.180 mm
2025-04-24 12:13:15 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:15 [debug] Diagnostics for board 50:
2025-04-24 12:13:15 [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 12:13:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:20 ago, cause: software
2025-04-24 12:13:15 [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 12:13:15 [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 12:13:15 [debug] Moves scheduled 24886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6198, max=17857
Sync err accum 91, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294932648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:15 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min 0, mspos 264, reads 20858, writes 0 timeouts 0
2025-04-24 12:13:15 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36108/37174
2025-04-24 12:13:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:15 [info] currentZPosition:0.182
2025-04-24 12:13:15 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:16 [debug] Stopped at height 0.183 mm
2025-04-24 12:13:16 [debug] Diagnostics for board 50:
2025-04-24 12:13:16 [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 12:13:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:21 ago, cause: software
2025-04-24 12:13:16 [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 12:13:16 [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 12:13:16 [debug] Moves scheduled 24892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=499, max=17045
Sync err accum 92, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294934282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:16 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 20373, writes 11 timeouts 1
2025-04-24 12:13:16 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36403/37176
2025-04-24 12:13:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:16 [info] currentZPosition:0.183
2025-04-24 12:13:17 [debug] Stopped at height 0.180 mm
2025-04-24 12:13:18 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:18 [debug] Diagnostics for board 50:
2025-04-24 12:13:18 [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 12:13:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:23 ago, cause: software
2025-04-24 12:13:18 [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 12:13:18 [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 12:13:18 [debug] Moves scheduled 24898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5952, max=17045
Sync err accum 86, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:18 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 21284, writes 0 timeouts 0
2025-04-24 12:13:18 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36108/37176
2025-04-24 12:13:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:18 [info] currentZPosition:0.182
2025-04-24 12:13:19 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:20 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:20 [debug] Diagnostics for board 50:
2025-04-24 12:13:20 [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 12:13:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:25 ago, cause: software
2025-04-24 12:13:20 [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 12:13:20 [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 12:13:20 [debug] Moves scheduled 24904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=7009, max=17045
Sync err accum 82, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:20 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 20674, writes 0 timeouts 0
2025-04-24 12:13:20 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36398/37178
2025-04-24 12:13:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:20 [info] currentZPosition:0.181
2025-04-24 12:13:21 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:21 [debug] Diagnostics for board 50:
2025-04-24 12:13:21 [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 12:13:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:26 ago, cause: software
2025-04-24 12:13:21 [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 12:13:21 [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 12:13:21 [debug] Moves scheduled 24908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=5905, max=17045
Sync err accum 74, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:13:21 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 17038, writes 0 timeouts 0
2025-04-24 12:13:21 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35979/37177
2025-04-24 12:13:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:21 [info] currentZPosition:0.182
2025-04-24 12:13:22 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:22 [debug] Diagnostics for board 50:
2025-04-24 12:13:22 [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 12:13:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:27 ago, cause: software
2025-04-24 12:13:22 [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 12:13:22 [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 12:13:22 [debug] Moves scheduled 24912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6198, max=17045
Sync err accum 61, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967251 ticks, enabled, next step interrupt due in 4294936361 ticks, disabled
VIN 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 12:13:22 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min 0, mspos 408, reads 16621, writes 0 timeouts 0
2025-04-24 12:13:22 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37178
2025-04-24 12:13:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:23 [info] currentZPosition:0.182
2025-04-24 12:13:24 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:24 [debug] Diagnostics for board 50:
2025-04-24 12:13:24 [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 12:13:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:15:29 ago, cause: software
2025-04-24 12:13:24 [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 12:13:24 [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 12:13:24 [debug] Moves scheduled 24916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5952, max=17045
Sync err accum 67, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:24 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17273, writes 0 timeouts 0
2025-04-24 12:13:24 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36089/37174
2025-04-24 12:13:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:24 [info] currentZPosition:0.181
2025-04-24 12:13:25 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:25 [debug] Diagnostics for board 50:
2025-04-24 12:13:25 [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 12:13:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:30 ago, cause: software
2025-04-24 12:13:25 [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 12:13:25 [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 12:13:25 [debug] Moves scheduled 24920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294932045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:25 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16293, writes 0 timeouts 0
2025-04-24 12:13:25 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36392/37177
2025-04-24 12:13:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:25 [info] currentZPosition:0.182
2025-04-24 12:13:27 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:27 [debug] Diagnostics for board 50:
2025-04-24 12:13:27 [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 12:13:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:31 ago, cause: software
2025-04-24 12:13:27 [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 12:13:27 [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 12:13:27 [debug] Moves scheduled 24924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6147, max=17045
Sync err accum 69, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294936176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:27 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17316, writes 0 timeouts 0
2025-04-24 12:13:27 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36107/37173
2025-04-24 12:13:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:27 [info] currentZPosition:0.182
2025-04-24 12:13:28 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:28 [debug] Diagnostics for board 50:
2025-04-24 12:13:28 [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 12:13:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:33 ago, cause: software
2025-04-24 12:13:28 [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 12:13:28 [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 12:13:28 [debug] Moves scheduled 24928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6410, max=17045
Sync err accum 68, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294936525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:28 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 16583, writes 0 timeouts 0
2025-04-24 12:13:28 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36405/37175
2025-04-24 12:13:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:28 [info] currentZPosition:0.182
2025-04-24 12:13:29 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:29 [debug] Diagnostics for board 50:
2025-04-24 12:13:29 [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 12:13:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:34 ago, cause: software
2025-04-24 12:13:29 [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 12:13:29 [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 12:13:29 [debug] Moves scheduled 24932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6302, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294928317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:29 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17520, writes 0 timeouts 0
2025-04-24 12:13:29 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36110/37177
2025-04-24 12:13:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9204, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:29 [info] currentZPosition:0.181
2025-04-24 12:13:31 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:31 [debug] Diagnostics for board 50:
2025-04-24 12:13:31 [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 12:13:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:35 ago, cause: software
2025-04-24 12:13:31 [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 12:13:31 [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 12:13:31 [debug] Moves scheduled 24936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=18292
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 4294933914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:31 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16257, writes 0 timeouts 0
2025-04-24 12:13:31 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36403/37177
2025-04-24 12:13:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:31 [info] currentZPosition:0.182
2025-04-24 12:13:32 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:32 [debug] Diagnostics for board 50:
2025-04-24 12:13:32 [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 12:13:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:37 ago, cause: software
2025-04-24 12:13:32 [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 12:13:32 [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 12:13:32 [debug] Moves scheduled 24940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294936617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:32 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17500, writes 0 timeouts 0
2025-04-24 12:13:32 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36113/37171
2025-04-24 12:13:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9202, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:32 [info] currentZPosition:0.181
2025-04-24 12:13:33 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:33 [debug] Diagnostics for board 50:
2025-04-24 12:13:33 [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 12:13:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:38 ago, cause: software
2025-04-24 12:13:33 [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 12:13:33 [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 12:13:33 [debug] Moves scheduled 24944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6756, max=18292
Sync err accum 70, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294933961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:33 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16486, writes 0 timeouts 0
2025-04-24 12:13:33 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36401/37174
2025-04-24 12:13:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:33 [info] currentZPosition:0.182
2025-04-24 12:13:35 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:35 [debug] Diagnostics for board 50:
2025-04-24 12:13:35 [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 12:13:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:39 ago, cause: software
2025-04-24 12:13:35 [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 12:13:35 [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 12:13:35 [debug] Moves scheduled 24948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 71, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294931902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:35 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 17030, writes 0 timeouts 0
2025-04-24 12:13:35 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36111/37176
2025-04-24 12:13:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:35 [info] currentZPosition:0.182
2025-04-24 12:13:36 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:36 [debug] Diagnostics for board 50:
2025-04-24 12:13:36 [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 12:13:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:41 ago, cause: software
2025-04-24 12:13:36 [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 12:13:36 [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 12:13:36 [debug] Moves scheduled 24952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=6410, max=17045
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 4294929844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:36 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 16846, writes 0 timeouts 0
2025-04-24 12:13:36 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36400/37175
2025-04-24 12:13:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:36 [info] currentZPosition:0.182
2025-04-24 12:13:37 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:37 [debug] Diagnostics for board 50:
2025-04-24 12:13:37 [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 12:13:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:42 ago, cause: software
2025-04-24 12:13:37 [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 12:13:37 [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 12:13:37 [debug] Moves scheduled 24956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6250, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294935352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:13:37 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17186, writes 0 timeouts 0
2025-04-24 12:13:37 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36112/37177
2025-04-24 12:13:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:37 [info] currentZPosition:0.182
2025-04-24 12:13:39 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:39 [debug] Diagnostics for board 50:
2025-04-24 12:13:39 [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 12:13:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:44 ago, cause: software
2025-04-24 12:13:39 [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 12:13:39 [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 12:13:39 [debug] Moves scheduled 24960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6147, max=17857
Sync err accum 61, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:39 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16589, writes 0 timeouts 0
2025-04-24 12:13:39 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36402/37175
2025-04-24 12:13:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:39 [info] currentZPosition:0.182
2025-04-24 12:13:40 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:40 [debug] Diagnostics for board 50:
2025-04-24 12:13:40 [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 12:13:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:45 ago, cause: software
2025-04-24 12:13:40 [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 12:13:40 [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 12:13:40 [debug] Moves scheduled 24964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17045
Sync err accum 74, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294930895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:40 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17217, writes 0 timeouts 0
2025-04-24 12:13:40 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36100/37176
2025-04-24 12:13:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9181, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:40 [info] currentZPosition:0.182
2025-04-24 12:13:41 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:41 [debug] Diagnostics for board 50:
2025-04-24 12:13:41 [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 12:13:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:46 ago, cause: software
2025-04-24 12:13:41 [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 12:13:41 [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 12:13:41 [debug] Moves scheduled 24968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6944, max=17045
Sync err accum 87, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:13:41 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 16437, writes 0 timeouts 0
2025-04-24 12:13:41 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36403/37175
2025-04-24 12:13:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:41 [info] currentZPosition:0.182
2025-04-24 12:13:43 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:43 [debug] Diagnostics for board 50:
2025-04-24 12:13:43 [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 12:13:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:48 ago, cause: software
2025-04-24 12:13:43 [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 12:13:43 [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 12:13:43 [debug] Moves scheduled 24972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6756, max=17045
Sync err accum 103, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294935449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:43 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 17191, writes 0 timeouts 0
2025-04-24 12:13:43 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36104/37172
2025-04-24 12:13:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:43 [info] currentZPosition:0.182
2025-04-24 12:13:44 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:44 [debug] Diagnostics for board 50:
2025-04-24 12:13:44 [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 12:13:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:49 ago, cause: software
2025-04-24 12:13:44 [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 12:13:44 [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 12:13:44 [debug] Moves scheduled 24976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6000, max=17045
Sync err accum 114, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294934014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:44 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min 0, mspos 568, reads 17019, writes 0 timeouts 0
2025-04-24 12:13:44 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36279/37173
2025-04-24 12:13:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9221, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:44 [info] currentZPosition:0.181
2025-04-24 12:13:45 [debug] Stopped at height 0.180 mm
2025-04-24 12:13:46 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:46 [debug] Diagnostics for board 50:
2025-04-24 12:13:46 [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 12:13:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:51 ago, cause: software
2025-04-24 12:13:46 [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 12:13:46 [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 12:13:46 [debug] Moves scheduled 24982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6521, max=17045
Sync err accum 123, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:46 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 20915, writes 0 timeouts 0
2025-04-24 12:13:46 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36106/37175
2025-04-24 12:13:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9181, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:46 [info] currentZPosition:0.182
2025-04-24 12:13:46 [debug] Stopped at height 0.179 mm
2025-04-24 12:13:47 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:47 [debug] Diagnostics for board 50:
2025-04-24 12:13:47 [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 12:13:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:52 ago, cause: software
2025-04-24 12:13:47 [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 12:13:47 [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 12:13:47 [debug] Moves scheduled 24988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=108, frequency (Hz): min=6465, max=17045
Sync err accum 125, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294936118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:13:47 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 20451, writes 0 timeouts 0
2025-04-24 12:13:47 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36167/37175
2025-04-24 12:13:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:48 [info] currentZPosition:0.182
2025-04-24 12:13:48 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:49 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:49 [debug] Diagnostics for board 50:
2025-04-24 12:13:49 [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 12:13:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:54 ago, cause: software
2025-04-24 12:13:49 [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 12:13:49 [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 12:13:49 [debug] Moves scheduled 24994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=140, frequency (Hz): min=6000, max=18292
Sync err accum 112, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294933672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, 
2025-04-24 12:13:49 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 21092, writes 0 timeouts 0
2025-04-24 12:13:49 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36107/37178
2025-04-24 12:13:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:49 [info] currentZPosition:0.182
2025-04-24 12:13:50 [debug] Stopped at height 0.181 mm
2025-04-24 12:13:50 [debug] Diagnostics for board 50:
2025-04-24 12:13:50 [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 12:13:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:55 ago, cause: software
2025-04-24 12:13:50 [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 12:13:50 [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 12:13:50 [debug] Moves scheduled 24998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6818, max=17045
Sync err accum 100, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:13:50 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 16926, writes 0 timeouts 0
2025-04-24 12:13:50 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36167/37179
2025-04-24 12:13:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9235, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:51 [info] currentZPosition:0.181
2025-04-24 12:13:52 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:52 [debug] Diagnostics for board 50:
2025-04-24 12:13:52 [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 12:13:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:57 ago, cause: software
2025-04-24 12:13:52 [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 12:13:52 [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 12:13:52 [debug] Moves scheduled 25002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17857
Sync err accum 84, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294934112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:13:52 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16984, writes 0 timeouts 0
2025-04-24 12:13:52 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36111/37176
2025-04-24 12:13:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9205, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:52 [info] currentZPosition:0.182
2025-04-24 12:13:53 [debug] Stopped at height 0.183 mm
2025-04-24 12:13:53 [debug] Diagnostics for board 50:
2025-04-24 12:13:53 [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 12:13:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:15:58 ago, cause: software
2025-04-24 12:13:53 [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 12:13:53 [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 12:13:53 [debug] Moves scheduled 25006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6250, max=17045
Sync err accum 69, peak jitter -4/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:13:53 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min 0, mspos 184, reads 15969, writes 0 timeouts 0
2025-04-24 12:13:53 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36149/37176
2025-04-24 12:13:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4543, no error
Lin: Encoder reverse polarity: no, raw count 819
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:53 [info] currentZPosition:0.183
2025-04-24 12:13:53 [debug] Stopped at height 0.186 mm
2025-04-24 12:13:54 [debug] Stopped at height 0.183 mm
2025-04-24 12:13:55 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:55 [debug] Diagnostics for board 50:
2025-04-24 12:13:55 [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 12:13:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:00 ago, cause: software
2025-04-24 12:13:55 [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 12:13:55 [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 12:13:55 [debug] Moves scheduled 25014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 72, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:13:55 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 25494, writes 0 timeouts 0
2025-04-24 12:13:55 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, 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 291, adv 36104/37175
2025-04-24 12:13:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:55 [info] currentZPosition:0.182
2025-04-24 12:13:56 [debug] Stopped at height 0.183 mm
2025-04-24 12:13:56 [debug] Diagnostics for board 50:
2025-04-24 12:13:56 [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 12:13:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:01 ago, cause: software
2025-04-24 12:13:56 [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 12:13:56 [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 12:13:56 [debug] Moves scheduled 25018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6097, max=17045
Sync err accum 84, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294934612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:56 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 16537, writes 0 timeouts 0
2025-04-24 12:13:56 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37174
2025-04-24 12:13:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:57 [info] currentZPosition:0.183
2025-04-24 12:13:58 [debug] Stopped at height 0.182 mm
2025-04-24 12:13:58 [debug] Diagnostics for board 50:
2025-04-24 12:13:58 [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 12:13:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:03 ago, cause: software
2025-04-24 12:13:58 [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 12:13:58 [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 12:13:58 [debug] Moves scheduled 25022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=94, frequency (Hz): min=6410, max=17045
Sync err accum 95, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:13:58 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 17391, writes 0 timeouts 0
2025-04-24 12:13:58 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36102/37173
2025-04-24 12:13:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:58 [info] currentZPosition:0.182
2025-04-24 12:13:59 [debug] Stopped at height 0.183 mm
2025-04-24 12:13:59 [debug] Diagnostics for board 50:
2025-04-24 12:13:59 [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 12:13:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:04 ago, cause: software
2025-04-24 12:13:59 [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 12:13:59 [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 12:13:59 [debug] Moves scheduled 25026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6637, max=18292
Sync err accum 104, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294936075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:13:59 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min 0, mspos 312, reads 16146, writes 0 timeouts 0
2025-04-24 12:13:59 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36163/37173
2025-04-24 12:13:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:13:59 [info] currentZPosition:0.183
2025-04-24 12:14:00 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:01 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:01 [debug] Diagnostics for board 50:
2025-04-24 12:14:01 [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 12:14:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:06 ago, cause: software
2025-04-24 12:14:01 [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 12:14:01 [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 12:14:01 [debug] Moves scheduled 25032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5681, max=17045
Sync err accum 113, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294929511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:14:01 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 21341, writes 0 timeouts 0
2025-04-24 12:14:01 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36094/37176
2025-04-24 12:14:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4546, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:01 [info] currentZPosition:0.182
2025-04-24 12:14:02 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:02 [debug] Diagnostics for board 50:
2025-04-24 12:14:02 [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 12:14:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:16:07 ago, cause: software
2025-04-24 12:14:02 [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 12:14:02 [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 12:14:02 [debug] Moves scheduled 25036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 116, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294933298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:14:02 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min 0, mspos 280, reads 16268, writes 0 timeouts 0
2025-04-24 12:14:02 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36165/37175
2025-04-24 12:14:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:02 [info] currentZPosition:0.183
2025-04-24 12:14:04 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:04 [debug] Diagnostics for board 50:
2025-04-24 12:14:04 [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 12:14:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:08 ago, cause: software
2025-04-24 12:14:04 [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 12:14:04 [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 12:14:04 [debug] Moves scheduled 25040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=60, frequency (Hz): min=6756, max=17045
Sync err accum 116, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294935097 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:14:04 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 17439, writes 0 timeouts 0
2025-04-24 12:14:04 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36103/37176
2025-04-24 12:14:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4554, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:04 [info] currentZPosition:0.182
2025-04-24 12:14:05 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:05 [debug] Diagnostics for board 50:
2025-04-24 12:14:05 [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 12:14:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:10 ago, cause: software
2025-04-24 12:14:05 [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 12:14:05 [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 12:14:05 [debug] Moves scheduled 25044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6147, max=17045
Sync err accum 116, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294932282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:05 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16288, writes 0 timeouts 0
2025-04-24 12:14:05 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36164/37176
2025-04-24 12:14:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:05 [info] currentZPosition:0.183
2025-04-24 12:14:06 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:06 [debug] Diagnostics for board 50:
2025-04-24 12:14:06 [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 12:14:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:11 ago, cause: software
2025-04-24 12:14:06 [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 12:14:06 [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 12:14:06 [debug] Moves scheduled 25048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6198, max=17045
Sync err accum 114, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294929213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:14:06 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 17612, writes 0 timeouts 0
2025-04-24 12:14:06 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36110/37173
2025-04-24 12:14:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9184, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:06 [info] currentZPosition:0.182
2025-04-24 12:14:08 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:08 [debug] Diagnostics for board 50:
2025-04-24 12:14:08 [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 12:14:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:12 ago, cause: software
2025-04-24 12:14:08 [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 12:14:08 [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 12:14:08 [debug] Moves scheduled 25052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6521, max=17045
Sync err accum 107, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:08 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min 0, mspos 552, reads 16791, writes 0 timeouts 0
2025-04-24 12:14:08 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36168/37174
2025-04-24 12:14:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:08 [info] currentZPosition:0.182
2025-04-24 12:14:09 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:09 [debug] Diagnostics for board 50:
2025-04-24 12:14:09 [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 12:14:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:14 ago, cause: software
2025-04-24 12:14:09 [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 12:14:09 [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 12:14:09 [debug] Moves scheduled 25056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6048, max=17045
Sync err accum 98, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:09 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17018, writes 0 timeouts 0
2025-04-24 12:14:09 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 36112/37179
2025-04-24 12:14:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:09 [info] currentZPosition:0.182
2025-04-24 12:14:10 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:10 [debug] Diagnostics for board 50:
2025-04-24 12:14:10 [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 12:14:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:15 ago, cause: software
2025-04-24 12:14:10 [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 12:14:10 [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 12:14:10 [debug] Moves scheduled 25060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6696, max=17857
Sync err accum 86, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294930933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:10 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min 0, mspos 504, reads 16689, writes 0 timeouts 0
2025-04-24 12:14:10 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36169/37178
2025-04-24 12:14:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9204, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 825
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:10 [info] currentZPosition:0.182
2025-04-24 12:14:12 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:12 [debug] Diagnostics for board 50:
2025-04-24 12:14:12 [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 12:14:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:17 ago, cause: software
2025-04-24 12:14:12 [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 12:14:12 [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 12:14:12 [debug] Moves scheduled 25064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=109, frequency (Hz): min=6198, max=17045
Sync err accum 74, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:14:12 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min 0, mspos 248, reads 16747, writes 0 timeouts 0
2025-04-24 12:14:12 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36106/37178
2025-04-24 12:14:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4552, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:12 [info] currentZPosition:0.183
2025-04-24 12:14:12 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:13 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:13 [debug] Diagnostics for board 50:
2025-04-24 12:14:13 [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 12:14:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:18 ago, cause: software
2025-04-24 12:14:13 [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 12:14:13 [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 12:14:13 [debug] Moves scheduled 25070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=58, frequency (Hz): min=6637, max=17857
Sync err accum 62, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294935778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:14:13 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min 0, mspos 360, reads 20626, writes 0 timeouts 0
2025-04-24 12:14:13 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36163/37176
2025-04-24 12:14:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:13 [info] currentZPosition:0.183
2025-04-24 12:14:15 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:15 [debug] Diagnostics for board 50:
2025-04-24 12:14:15 [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 12:14:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:20 ago, cause: software
2025-04-24 12:14:15 [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 12:14:15 [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 12:14:15 [debug] Moves scheduled 25074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17857
Sync err accum 74, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294931499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:14:15 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min 0, mspos 456, reads 17358, writes 0 timeouts 0
2025-04-24 12:14:15 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36109/37175
2025-04-24 12:14:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9192, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:15 [info] currentZPosition:0.182
2025-04-24 12:14:16 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:16 [debug] Diagnostics for board 50:
2025-04-24 12:14:16 [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 12:14:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:21 ago, cause: software
2025-04-24 12:14:16 [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 12:14:16 [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 12:14:16 [debug] Moves scheduled 25078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=5905, max=17045
Sync err accum 87, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294932672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:14:16 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min 0, mspos 424, reads 16517, writes 0 timeouts 0
2025-04-24 12:14:16 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36152/37176
2025-04-24 12:14:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:16 [info] currentZPosition:0.183
2025-04-24 12:14:17 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:17 [debug] Diagnostics for board 50:
2025-04-24 12:14:17 [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 12:14:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:22 ago, cause: software
2025-04-24 12:14:17 [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 12:14:17 [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 12:14:17 [debug] Moves scheduled 25082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6410, max=17045
Sync err accum 90, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294935825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:14:17 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 17069, writes 0 timeouts 0
2025-04-24 12:14:17 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36108/37175
2025-04-24 12:14:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4551, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:17 [info] currentZPosition:0.183
2025-04-24 12:14:19 [debug] Stopped at height 0.184 mm
2025-04-24 12:14:19 [debug] Diagnostics for board 50:
2025-04-24 12:14:19 [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 12:14:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:24 ago, cause: software
2025-04-24 12:14:19 [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 12:14:19 [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 12:14:19 [debug] Moves scheduled 25086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6465, max=17045
Sync err accum 96, peak jitter 1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294934830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:14:19 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min 0, mspos 232, reads 16363, writes 0 timeouts 0
2025-04-24 12:14:19 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36166/37174
2025-04-24 12:14:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:19 [info] currentZPosition:0.184
2025-04-24 12:14:20 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:20 [debug] Diagnostics for board 50:
2025-04-24 12:14:20 [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 12:14:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:25 ago, cause: software
2025-04-24 12:14:20 [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 12:14:20 [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 12:14:20 [debug] Moves scheduled 25090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6637, max=17045
Sync err accum 102, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:14:20 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 17340, writes 0 timeouts 0
2025-04-24 12:14:20 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36105/37175
2025-04-24 12:14:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4547, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:20 [info] currentZPosition:0.183
2025-04-24 12:14:21 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:21 [debug] Diagnostics for board 50:
2025-04-24 12:14:21 [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 12:14:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:26 ago, cause: software
2025-04-24 12:14:21 [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 12:14:21 [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 12:14:21 [debug] Moves scheduled 25094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=89, frequency (Hz): min=6637, max=17045
Sync err accum 103, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294933584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:14:21 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min 0, mspos 536, reads 16984, writes 0 timeouts 0
2025-04-24 12:14:21 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36161/37175
2025-04-24 12:14:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9214, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4544, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:22 [info] currentZPosition:0.182
2025-04-24 12:14:22 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:23 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:23 [debug] Diagnostics for board 50:
2025-04-24 12:14:23 [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 12:14:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.6%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:28 ago, cause: software
2025-04-24 12:14:23 [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 12:14:23 [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 12:14:23 [debug] Moves scheduled 25100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=5952, max=17045
Sync err accum 100, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294934983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:23 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min 0, mspos 376, reads 20716, writes 0 timeouts 0
2025-04-24 12:14:23 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36108/37177
2025-04-24 12:14:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:23 [info] currentZPosition:0.183
2025-04-24 12:14:24 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:24 [debug] Diagnostics for board 50:
2025-04-24 12:14:24 [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 12:14:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:29 ago, cause: software
2025-04-24 12:14:24 [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 12:14:24 [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 12:14:24 [debug] Moves scheduled 25104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6696, max=17045
Sync err accum 98, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294936603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:24 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 16598, writes 0 timeouts 0
2025-04-24 12:14:24 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36167/37174
2025-04-24 12:14:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 822
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:25 [info] currentZPosition:0.183
2025-04-24 12:14:26 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:26 [debug] Diagnostics for board 50:
2025-04-24 12:14:26 [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 12:14:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:31 ago, cause: software
2025-04-24 12:14:26 [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 12:14:26 [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 12:14:26 [debug] Moves scheduled 25108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=7009, max=17045
Sync err accum 92, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:14:26 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min 0, mspos 296, reads 16988, writes 0 timeouts 0
2025-04-24 12:14:26 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37175
2025-04-24 12:14:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4549, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:26 [info] currentZPosition:0.183
2025-04-24 12:14:27 [debug] Stopped at height 0.182 mm
2025-04-24 12:14:27 [debug] Diagnostics for board 50:
2025-04-24 12:14:27 [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 12:14:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:32 ago, cause: software
2025-04-24 12:14:27 [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 12:14:27 [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 12:14:27 [debug] Moves scheduled 25112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6756, max=17045
Sync err accum 83, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294933082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:27 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min 0, mspos 472, reads 16963, writes 0 timeouts 0
2025-04-24 12:14:27 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36165/37175
2025-04-24 12:14:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9192, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4545, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:27 [info] currentZPosition:0.182
2025-04-24 12:14:29 [debug] Stopped at height 0.183 mm
2025-04-24 12:14:29 [debug] Diagnostics for board 50:
2025-04-24 12:14:29 [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 12:14:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:16:33 ago, cause: software
2025-04-24 12:14:29 [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 12:14:29 [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 12:14:29 [debug] Moves scheduled 25116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=57, frequency (Hz): min=6097, max=17045
Sync err accum 68, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294936466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:14:29 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min 0, mspos 344, reads 16888, writes 0 timeouts 0
2025-04-24 12:14:29 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36112/37176
2025-04-24 12:14:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4550, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:14:29 [info] currentZPosition:0.183
2025-04-24 12:15:33 [debug] Stopped at height 0.182 mm
2025-04-24 12:15:33 [debug] Diagnostics for board 50:
2025-04-24 12:15:33 [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 12:15:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,99.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 02:17:38 ago, cause: software
2025-04-24 12:15:33 [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 12:15:33 [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 12:15:33 [debug] Moves scheduled 25408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=116, frequency (Hz): min=892, max=18292
Sync err accum 103, peak jitter -3/4, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294935305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:15:33 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min 0, mspos 600, reads 22030, writes 11 timeouts 1
2025-04-24 12:15:33 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 558, send timeouts 0, received 607, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 35740/37179
2025-04-24 12:15:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9234, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4548, no error
Lin: Encoder reverse polarity: no, raw count 826
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:15:33 [info] currentZPosition:0.182
2025-04-24 12:15:34 [debug] Stopped at height 0.180 mm
2025-04-24 12:15:35 [debug] Stopped at height 0.183 mm
2025-04-24 12:15:35 [debug] Diagnostics for board 50:
2025-04-24 12:15:35 [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 12:15:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:17:40 ago, cause: software
2025-04-24 12:15:35 [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 12:15:35 [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 12:15:35 [debug] Moves scheduled 25414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=112, frequency (Hz): min=6465, max=17045
Sync err accum 91, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294930772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:15:35 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min 0, mspos 392, reads 20575, writes 0 timeouts 0
2025-04-24 12:15:35 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 56, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35737/37179
2025-04-24 12:15:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 17, mag 4755, no error
Lin: Encoder reverse polarity: no, raw count 821
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:15:35 [info] currentZPosition:0.183
2025-04-24 12:15:35 [debug] Stopped at height 0.181 mm
2025-04-24 12:15:37 [debug] Stopped at height 0.184 mm
2025-04-24 12:15:37 [debug] Diagnostics for board 50:
2025-04-24 12:15:37 [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 12:15:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:17:41 ago, cause: software
2025-04-24 12:15:37 [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 12:15:37 [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 12:15:37 [debug] Moves scheduled 25420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=92, frequency (Hz): min=6578, max=17045
Sync err accum 75, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294934551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cu
2025-04-24 12:15:37 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min 0, mspos 200, reads 20366, writes 0 timeouts 0
2025-04-24 12:15:37 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 54, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35738/37178
2025-04-24 12:15:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 17, mag 4755, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:15:37 [info] currentZPosition:0.184
2025-04-24 12:15:37 [debug] Stopped at height 0.181 mm
2025-04-24 12:15:38 [debug] Done printing file
2025-04-24 12:15:38 [debug] Done printing file
2025-04-24 12:15:38 [warn] Finished printing file 0:/gcodes/NV00044073A.g, print time was 2h 14m
2025-04-24 12:15:39 [debug] Stopped at height 0.184 mm
2025-04-24 12:15:39 [debug] Diagnostics for board 50:
2025-04-24 12:15:39 [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 12:15:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.5%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:17:44 ago, cause: software
2025-04-24 12:15:39 [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 12:15:39 [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 12:15:39 [debug] Moves scheduled 25426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6355, max=17045
Sync err accum 66, peak jitter -3/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294930709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:15:39 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min 0, mspos 328, reads 31143, writes 0 timeouts 0
2025-04-24 12:15:39 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, 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 285, adv 36202/37177
2025-04-24 12:15:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 17, mag 4752, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:15:39 [info] currentZPosition:0.184
2025-04-24 12:15:39 [debug] Stopped at height 0.182 mm
2025-04-24 12:15:40 [debug] Stopped at height 0.185 mm
2025-04-24 12:15:40 [debug] Diagnostics for board 50:
2025-04-24 12:15:40 [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 12:15:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,34.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:17:45 ago, cause: software
2025-04-24 12:15:40 [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 12:15:40 [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 12:15:40 [debug] Moves scheduled 25430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=6465, max=17045
Sync err accum 68, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294933936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curre
2025-04-24 12:15:40 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min 0, mspos 120, reads 13515, writes 0 timeouts 0
2025-04-24 12:15:40 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 37144/37174
2025-04-24 12:15:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 17, mag 4753, no error
Lin: Encoder reverse polarity: no, raw count 820
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:15:40 [info] currentZPosition:0.185
2025-04-24 12:15:41 [debug] Stopped at height 0.183 mm
2025-04-24 12:15:41 [debug] Stopped at height 0.183 mm
2025-04-24 12:15:41 [debug] Diagnostics for board 50:
2025-04-24 12:15:41 [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 12:15:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:17:46 ago, cause: software
2025-04-24 12:15:41 [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 12:15:41 [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 12:15:41 [debug] Moves scheduled 25434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=93, frequency (Hz): min=7075, max=17045
Sync err accum 72, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294932853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:15:41 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min 0, mspos 488, reads 14530, writes 0 timeouts 0
2025-04-24 12:15:41 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 50, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 37139/37171
2025-04-24 12:15:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 17, mag 4753, no error
Lin: Encoder reverse polarity: no, raw count 824
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:15:41 [info] currentZPosition:0.183
2025-04-24 12:15:42 [debug] Stopped at height 0.183 mm
2025-04-24 12:15:42 [debug] Diagnostics for board 50:
2025-04-24 12:15:42 [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 12:15:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,33.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:17:47 ago, cause: software
2025-04-24 12:15:42 [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 12:15:42 [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 12:15:42 [debug] Moves scheduled 25436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=56, frequency (Hz): min=6355, max=17045
Sync err accum 72, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294930979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, cur
2025-04-24 12:15:42 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min 0, mspos 440, reads 9907, writes 0 timeouts 0
2025-04-24 12:15:42 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 50, send timeouts 0, received 15, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 37147/37170
2025-04-24 12:15:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 17, mag 4749, no error
Lin: Encoder reverse polarity: no, raw count 823
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 12:15:42 [info] currentZPosition:0.183
2025-04-24 12:15:43 [debug] Diagnostics for board 50:
2025-04-24 12:15:43 [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 12:15:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,124) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,34.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 02:17:47 ago, cause: software
2025-04-24 12:15:43 [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 12:15:43 [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 12:15:43 [debug] Moves scheduled 25437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=90, frequency (Hz): min=6578, max=17045
Sync err accum 74, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294677334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 32.7C, curr
2025-04-24 12:15:43 [debug] Driver 0: pos -3452, 10060.2 steps/mm, standstill, SG min 0, mspos 168, reads 6620, writes 0 timeouts 0
2025-04-24 12:15:43 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 46, send timeouts 0, received 12, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 281, adv 37174/37174
2025-04-24 12:15:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 1, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 17, mag 4758, no error
Lin: Encoder reverse polarity: no, raw count 812
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:04:27 [warn] Ethernet running, IP address = 192.168.1.14
2025-04-24 14:04:34 [warn] HTTP client 192.168.1.2 login succeeded (session key 1889654872)
2025-04-24 14:04:43 [info] Event logging stopped